Automated drug preparation apparatus including automated drug reconstitution

ABSTRACT

An automated medication preparation system for preparing a prescribed dosage of medication in a drug delivery device includes a plurality of stations for receiving, handling and processing the drug delivery device so that the prescribed dosage of medication is delivered to the drug delivery device and a transporting device that receives and holds more than one drug delivery device and moves the drug delivery devices in a controlled manner from one station to another station. The system is configured so that two or more separate drug delivery devices can be acted upon at the same time.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of U.S. patent applicationSer. No. 11/434,850, filed May 15, 2006, which is a continuation of U.S.patent application Ser. No. 10/728,371, filed Dec. 3, 2003, which claimsthe benefit of U.S. patent application Ser. No. 60/430,481, filed Dec.3, 2002, and U.S. patent application Ser. No. 60/470,328, filed May 13,2003, each of which is hereby incorporated by reference in its entirety.

TECHNICAL FIELD

The present invention relates generally to medical and pharmaceuticalequipment, and more particularly, to an automated system for preparing adrug delivery device, such as a syringe, to receive a unit dose ofmedication and then dispensing the unit dose of medication into the drugdelivery device (e.g., a syringe) and to a number of safety and controlfeatures that preserve the integrity and optimize the performance andcapabilities of the system.

BACKGROUND

Disposable syringes are in widespread use for a number of differenttypes of applications. For example, syringes are used not only towithdraw a fluid (e.g., blood) from a patient but also to administer amedication to a patient. In the latter, a cap or the like is removedfrom the syringe and a unit dose of the medication is carefully measuredand then injected or otherwise disposed within the syringe.

As technology advances, more and more sophisticated, automated systemsare being developed for preparing and delivering medications byintegrating a number of different stations, with one or more specifictasks being performed at each station. For example, one type ofexemplary automated system operates as a syringe filling apparatus thatreceives user inputted information, such as the type of medication, thevolume of the medication and any mixing instructions, etc. The systemthen uses this inputted information to disperse the correct medicationinto the syringe up to the inputted volume.

In some instances, the medication that is to be delivered to the patientincludes more than one pharmaceutical substance. For example, themedication can be a mixture of several components, such as severalpharmaceutical substances.

By automating the medication preparation process, increased productionand efficiency are achieved and better environmental control of theproduction process is achieved, thereby reducing opportunities forcontamination. This results in reduced production costs and also permitsthe system to operate over any time period of a given day with onlylimited operator intervention for manual inspection to ensure properoperation is being achieved. Such a system finds particular utility insettings, such as large hospitals, where a large number of doses ofmedications that must be prepared daily. Traditionally, these doses havebeen prepared manually in what is an exacting but tedious responsibilityfor a highly skilled staff. In order to be valuable, automated systemsmust maintain the exacting standards set by medical regulatoryorganizations, while at the same time simplifying the overall processand reducing the time necessary for preparing the medications.

Because syringes are used often as the carrier means for transportingand delivering the medication to the patient, it is advantageous forthese automated systems to be tailored to accept syringes. However, theprevious methods of dispersing the medication from the vial and into thesyringe were very time consuming and labor intensive. More specifically,medications and the like are typically stored in a vial that is sealedwith a safety cap or the like. In conventional medication preparation, atrained person retrieves the correct vial from a storage cabinet or thelike, confirms the contents and then removes the safety cap manually.This is typically done by simply popping the safety cap off with one'shands. Once the safety cap is removed, the trained person inspects theintegrity of the membrane and cleans the membrane. An instrument, e.g.,a needle, is then used to pierce the membrane and withdraw themedication contained in the vial. The withdrawn medication is thenplaced into a syringe to permit subsequent administration of themedication from the syringe.

All injections must be administered as liquids. If an injectablesubstance has a limited shelf-life as a liquid, it may be provided insolid or powdered for to be liquefied with a diluent, such as water orsaline, prior to use. The process is called reconstitution and involvesselecting an appropriate diluent, injecting the measured volume ofdiluent into the vial, and agitating the vial to ensure completedissolution of the drug. The medication thus initially comes in a solidform and is contained in an injectable drug vial and then the properamount of diluent is added and the vial is agitated to ensure that allof the solid goes into solution, thereby providing a medication havingthe desired concentration. The drug vial is typically stored in a drugcabinet or the like and is then delivered to other stations where it isprocessed to receive the diluent. This is a time consuming process andis open to human error in the reconstitution of the medication.

What is needed in the art and has heretofore not been available is asystem and method for automating the medication preparation process andmore specifically, an automated system and method for preparing asyringe including preparing and filling the syringe with reconstitutedmedication, as well as a number of safety features that improve theintegrity of the process.

SUMMARY

An automated medication preparation system for preparing a prescribeddosage of medication in a drug delivery device includes a plurality ofstations for receiving, handling and processing the drug delivery deviceso that the prescribed dosage of medication is delivered to the drugdelivery device and a transporting device that receives and holds morethan one drug delivery device and moves the drug delivery devices in acontrolled manner from one station to another station. The system isconfigured so that two or more separate drug delivery devices can beacted upon at the same time.

In another aspect, an automated drug preparation system for preparing aprescribed dosage of medication in a syringe includes a first drugdelivery station that includes a first automated drug delivery devicethat is in fluid communication with a source of a first fluid that isfor delivery to the syringe. The system further includes an adjustableplunger extension mechanism that includes a movable component thatintimately engages a plunger of the syringe so that a first movement ofthe movable component is translated into a first extension of theplunger a first defined distance which causes a first volume of thefirst fluid to be drawn into the syringe.

The system also includes a controller that includes stored medicationorders including a final volume and concentration of the prescribeddosage of medication, wherein and based on the stored medication orders,the controller calculates the first defined distance that the plunger ismoved to draw the first volume of the first fluid and causes the plungerto extend the first defined distance. When the first volume is less thanthe final volume, the controller calculates the difference between thefinal volume and the first volume and disengages the fluid communicationbetween the source of the first fluid and the first automated drugdelivery device and then calculates a second defined distance theplunger is to be moved to permit reception of a second volume of asecond fluid and causes the plunger to extend the second defineddistance. The sum of the first and second volumes is equal to the finalvolume.

In another embodiment, a method for processing a drug order andpreparing a diluted child drug product from a parent drug product, whenit is required, includes the steps of: (a) receiving and processing thedrug order and determining whether a diluted child drug product isrequired as is the case when the drug order can not be prepared byprocessing the parent drug product; (b) determining whether a dilutedparent drug product exists and if none exists, then determining whetheran amount of reconstituted parent drug product can be aspirated into asyringe and an amount of diluent directly added to the syringe to yieldthe diluted child drug product; and if so, then performing theseoperations; and (c) if the diluted parent drug product exists, thendetermining whether an amount of the diluted parent drug product can beaspirated into a syringe and an amount of diluent directly added to thesyringe to yield the diluted child drug product; and if so, thenperforming these operations; and if the diluted parent drug product doesnot exist, then the parent drug product is located and an amount of theparent drug product is aspirated into an empty container and an amountof diluent is added to the container which is then manipulated toproduce the child drug product.

In another aspect, a method of preparing a diluted dosage of medicationwith an automated drug preparation system includes the steps of: (a)reconstituting medication in a first vial, in an automated manner, toproduce reconstituted medication have a first concentration which isgreater than an inputted target concentration of the dosage ofmedication; (b) loading a syringe onto a device that controllablydelivers the loaded syringe from one station to another station; (c)fluidly connecting the syringe to a source of diluent; (d) extending aplunger of the syringe a predetermined distance to draw a first volumeof the diluent into the syringe; and (e) advancing the partially filledsyringe to another station where a predetermined amount of thereconstituted medication is delivered to the partially filled syringe toproduce the dosage of medication that has a concentration at least aboutequal to the inputted target concentration, wherein the reconstitutedmedication is delivered to the partially filled syringe in a mannerdifferent than drawing fluid by extension of the syringe plunger.

In yet another embodiment, a method of withdrawing a precise amount ofdrug from a drug vial in an automated manner includes the steps of: (a)identifying the type of drug vial being used; (b) accessing a databaseto retrieve stored vial characteristics that are associated with theidentified drug vial; (c) positioning a vented cannula relative to thedrug vial based on the stored vial characteristics such that in a firstmode of operation, a vent port of the vented cannula is open and thedrug vial is vented to atmosphere and in a second mode of operation, thevent port is closed; and (d) drawing the precise amount of drug from thedrug vial.

Further aspects and features of the exemplary automated drugreconstitution system and method disclosed herein can be appreciatedfrom the appended Figures and accompanying written description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a housing that contains an automateddrug delivery system that prepares a dosage of medication to beadministered to a patient;

FIG. 2 is a diagrammatic plan view of the automated system for preparinga medication to be administered to a patient;

FIG. 3 is a local perspective view of an automated device for removingor replacing the safety tip cap from the syringe;

FIG. 4 is a local perspective view of a device for extending a plungerof the syringe;

FIG. 5 is a local perspective view of fluid transfer and vialpreparation equipment in a fluid transfer area of the automated system;

FIG. 6 is a local perspective view of first and second fluid deliverydevices that form a part of the system of FIG. 2;

FIG. 7 is a cross-sectional view of a syringe being held with a plungerthereof being extended by an automated plunger extension mechanism;

FIG. 8 is a local perspective view of a multi-use vial holding stationand a vial weigh station;

FIG. 9 is a partial perspective view of a robotic device holding asyringe and a weigh station for weighing a filled syringe;

FIG. 10 is a top plan view of a drug vial;

FIG. 11 is a cross-sectional view of a drug vial with a vented cannulain a first position where the vent is inactive;

FIG. 12 is a cross-sectional view of a drug vial with the vented cannulain a second position where the vent is active;

FIG. 13 is a computer screen image of the system of FIG. 2 with indiciarepresenting loaded stations and empty station and active and inactivestations;

FIG. 14 is a cross-sectional view of drug delivery directly from a drugvial by extending the plunger of a syringe with an automated mechanism;

FIG. 15 is a flow chart illustrating the steps of a serial dilutionperformed by the devices of FIG. 6;

FIG. 16 is a computer screen image of an input page for enteringinformation related to a drug dilution order;

FIG. 17 is a graph of the data obtained by a load cell for determining aweight of the contents of the vial to ensure proper reconstitution ofthe medication; and

FIG. 18 is a perspective view of a vibratory vial reconstitution systemfor holding and mixing a drug vial.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

FIG. 1 is perspective view of a housing 1300 that is constructed tohouse an automated drug preparation and delivery system 100 in a sealed,controlled environment when the housing structure is closed (sealed). Auser interface, such as a computer, 1303 is provided to permit anoperator not only to enter information, such as drug orders, but also tomonitor the progress and operation of the system 100. The housing 1300and its components are described in greater detail below.

FIG. 2 is a schematic diagram illustrating one exemplary automatedsystem, generally indicated at 100, for the preparation of a medication.The automated system 100 is divided into a number of stations where aspecific task is performed based on the automated system 100 receivinguser input instructions, processing these instructions and thenpreparing unit doses of one or more medications in accordance with theinstructions. The automated system 100 includes a station 110 wheremedications and other substances used in the preparation process arestored. As used herein, the term “medication” refers to a medicinalpreparation for administration to a patient. Often, the medication isinitially stored as a solid, e.g., a powder, to which a diluent is addedto form a medicinal composition. Thus, the station 110 functions as astorage unit for storing one or medications, etc., under proper storageconditions. Typically, medications and the like are stored in sealedcontainers, such as vials, that are labeled to clearly indicate thecontents of each vial. The vials are typically stored in columns andfurther, empty vials can be stored in one column. The station 110includes a mechanism that permits the controlled discharge of a selecteddrug vial 60.

A first station 120 is a syringe storage station that houses and storesa number of syringes. For example, up to 500 syringes or more can bedisposed in the first station 120 for storage and later use. The firststation 120 can be in the form of a bin or the like or any other type ofstructure than can hold a number of syringes. In one exemplaryembodiment, the syringes are provided as a bandolier structure thatpermits the syringes to be fed into the other components of the system100 using standard delivery techniques, such as a conveyor belt, etc.

The system 100 also includes an apparatus 130 for advancing the fedsyringes from and to various stations of the system 100. The apparatus130 can be a rotary device, as shown, or it can be a linear apparatus,or it can assume some other shape. For purposes of illustration only,the apparatus 130 is discussed and shown as being a rotary device;however, it is not limited to such a configuration and therefore, thepresent disclosure is not limiting of the scope of the presentinvention.

A number of the stations are arranged circumferentially around therotary apparatus 130 so that the syringe is first loaded at the firststation 120 and then rotated a predetermined distance to a next station,etc., as the medication preparation process advances. At each station, adifferent operation is performed with the end result being that a unitdose of medication is disposed within the syringe that is then ready tobe administered.

One exemplary type of rotary apparatus 130 is a multiple stationcam-indexing dial that is adapted to perform material handlingoperations. The indexer is configured to have multiple stationspositioned thereabout with individual nests for each station position.One syringe is held within one nest using any number of suitabletechniques, including opposing spring-loaded fingers that act to clampthe syringe in its respective nest. The indexer permits the rotaryapparatus 130 to be advanced at specific intervals.

At a second station 140, the syringes are loaded into one of the nestsor the like of the rotary apparatus 130. One syringe is loaded into onenest of the rotary apparatus 130 in which the syringe is securely heldin place. The system 100 preferably includes additional mechanisms forpreparing the syringe for use, such as removing a tip cap and extendinga plunger of the syringe at a third station 150 as described below. Atthis point, the syringe is ready for use.

The system 100 also preferably includes a reader 151 that is capable ofreading a label disposed on the sealed container containing themedication. The label is read using any number of suitablereader/scanner/camera devices 151, such as a bar code reader, etc., soas to confirm that the proper medication has been selected from thestorage unit of the station 110. Multiple readers can be employed in thesystem at various locations to confirm the accuracy of the entireprocess. Once the system 100 confirms that the sealed container (drugvial 60) that has been selected contains the proper medication, the vial60 is delivered to a station 550 using an automated mechanism, such arobotic gripping device, as will be described in greater detail. At thestation 550, the vial 60 is prepared by removing the safety cap from thesealed container and then cleaning the exposed end of the vial.Preferably, the safety cap is removed on a deck of the automated system100 having a controlled environment. In this manner, the safety cap isremoved just-in-time for use. Exemplary vial cap removal devices aredisclosed in U.S. Pat. No. 6,604,903, which is hereby expresslyincorporated by reference in its entirety. In addition, the vial cap canbe removed by other devices, such as one which has a member with suction(vacuum) capabilities incorporated therein for removing the cap. In thisembodiment, the suction member is applied to the vial cap and then thesuction is activated and then the robotic arm that is gripping and holdthe vial body itself is twisted while the drug vial cap is undersuction, thus prying the cap from its seal. The cap is still held bysuction on the member until the suction is released at which time thecap falls into a trash bin.

The system 100 also preferably includes a fourth station (fluid transferstation) 170 for injecting or delivering a diluent into the medicationcontained in the sealed container and then subsequently mixing themedication and the diluent to form the medication composition that is tobe disposed into the prepared syringe. Alternatively, the station 170can controllably deliver a predetermined dosage of pre-made medication.At this fluid transfer station 170, the prepared medication compositionis withdrawn from the container (i.e., vial) and is then delivered intothe syringe. For example, a cannula can be inserted into the sealed vialand the medication composition then aspirated into a cannula set. Thecannula is then withdrawn from the vial and is then rotated relative tothe rotary apparatus 130 so that it is in line with (above, below, etc.)the syringe. The unit dose of the medication composition is thendelivered to the syringe, as well as additional diluent, if necessary ordesired. This is referred to as a vial mode of operation wherereconstitution of a drug is performed. The tip cap is then placed backon the syringe at a station 180. A station 190 prints and station 195applies a label to the syringe and a device, such as a reader, can beused to verify that this label is placed in a correct location and theprinting thereon is readable. Also, the reader can confirm that thelabel properly identifies the medication composition that is containedin the syringe and thus performs a safety check. The syringe is thenunloaded from the rotary apparatus 130 at an unloading station 200 anddelivered to a predetermined location, such as a new order bin, aconveyor, a sorting device, or a reject bin. The delivery of the syringecan be accomplished using a standard conveyor or other type ofapparatus. If the syringe is provided as a part of thepreviously-mentioned syringe bandolier, the bandolier is cut prior at astation 198 located prior to the unloading station 200.

It will be appreciated that an initial labeling station 153 prior to thedrug delivery station 170 (e.g., a station right after the load station120) can be provided for applying a label with a unique identifier, suchas a barcode, that uniquely identifies the syringe so that it can betracked at any location as it is advanced from one station to anotherstation. In other words, a reader 155 downstream of the initial labelingstation 153 reads the unique identifier and associates the uniqueidentifier with this particular syringe 10. This permits each drug orderto be assigned one particular uniquely identified syringe which islogged into and tracked by the computer. As the syringe is advanced, itslocation can be tracked by the unique identifier.

A robotic device is provided for moving objects relative to thetransporter device (dial 130) and in particular, the robotic device candeliver and/or remove objects, such as the syringe 10 or the drug vials60, relative to the dial 130. The robotic device thus typically has agripper mechanism, such as a pair of grippers, for grasping and holdingthe object.

FIGS. 2-5 illustrate parts of the third station 150 for preparing asyringe 10, the fluid transfer station 170, and the station 180 forpreparing the syringe for later use. As is known, a conventional syringe10 includes a barrel 20 into which fluid is injected and contained andat a barrel tip, a cap 40 is provided to close off the barrel 20. Aplunger 50 is slidingly received within the barrel 20 for both drawingfluid into the barrel and discharging fluid therefrom.

FIGS. 2-5 thus illustrate in more detail the stations and automateddevices that are used in removal of the tip cap 40 from the barrel tip,the filling of barrel chamber with medication and the replacement of thetip cap 40 on the barrel tip. FIG. 3 is a perspective view of anautomated device 300 at station 150 that removes the tip cap 40 from thebarrel tip as the syringe 10 is prepared for receiving a prescribed doseof medication at station 170 of the automated medication preparationsystem 100. The device 300 is a controllable device that is operativelyconnected to a control unit, such as a computer, which drives the device300 to specific locations at selected times. The control unit can be apersonal computer that runs one or more programs to ensure coordinatedoperation of all of the components of the system 100. The device 300 andother suitable devices described in greater detail in U.S. Ser. No.10/426,910, which is hereby incorporated by reference in its entirety.

As previously mentioned, one exemplary rotary device 130 is a multiplestation cam-indexing dial that is adapted to perform material handlingoperations. The dial 130 has an upper surface 132 and means 134 forsecurely holding one syringe 10 in a releasable manner and in a spacedrelationship. Exemplary means 134 is disclosed in U.S. Pat. No.6,915,823, which is incorporated herein by reference in its entirety.

A post 161 is provided for holding the tip cap 40 after its removal topermit the chamber to be filled with medication. The post 161 can alsobe formed on the upper surface 132 of the dial 130. Thus, the preciselocation of the post 161 can vary so long as the post 161 is locatedwhere the tip cap 40 can sit without interfering with the operation ofany of the automated devices and also the post 161 should not beunnecessarily too far away from the held syringe 10 since it is desiredfor the automated devices to travel a minimum distance during theiroperation to improve the overall efficiency of the system 100. Thespecific shape of the post 161 can likewise vary so long as the post 161can hold the tip cap 40 so that it remains on the post 161 during therotation of the dial 130 as the associated syringe 10 is advanced fromone station to another station.

While in one exemplary embodiment, the syringes 10 are fed to the rotarydevice 130 as part of a syringe bandolier (i.e., multiple syringes 10are disposed in series and interconnected by a web), it will beappreciated that the syringes 10 can be fed to the rotary device 130 inany number of other ways. For example, the syringes 10 can be fedindividually into and held individually on the rotary device 130 from aloose supply of syringes 10.

The automated device 300 is a robotic device and preferably, theautomated device 300 is a linear actuator with a gripper. For example,the device 300 has first and second positionable gripping arms 340, 350which are adjustable in at least one direction and which are coupled toand extend downwardly from the block member 330. For example, each ofthe gripping arms 340, 350 is movable at least in a direction along they axis which provide the flexibility and motion control that isdesirable in the present system 100. The gripping arms 340, 350 areprogrammed to work together in tandem so that both arms 340, 350 aredriven to the same location and the same time. This permits an object,such as the cap 40, to be held and moved to a target holding location.

The precise movements of the gripper device 300 are described in the'910 application. In general, the gripper device 300 can be any roboticdevice that can hold and move an object, such as the tip cap 40, fromone location to another location.

Now referring to FIG. 4, the system 100 also includes a device 400 forextending the plunger 50 of one uncapped syringe 10 after it has had itstip cap 40 removed therefrom. For ease of illustration, the device 400,as well as the device 300, are described as being part of the thirdstation 150 of the system 100. The device 400 extends the plunger 50 sothat the syringe 10 can receive a desired dose based upon the particularsyringe 10 being used and the type of application (e.g., patient'sneeds) that the syringe 10 is to be used for. The device 400 can haveany number of configurations so long as it contains a feature that isdesigned to make contact with and withdraw the plunger 50. In oneexemplary embodiment, the automated device 400 is a robotic device andpreferably, the automated device 400 is a linear actuator with agripper. For example, one exemplary device 400 is a mechanical devicethat has a movable gripper 410 that includes a gripping edge 420 thatengages the flange 54 of the plunger 50, as shown in FIG. 4, and thenthe gripper 410 is moved in a downward direction causing the plunger 50to be moved a predetermined amount. For example, the gripper 410 can bethe part of an extendable/retractable arm that includes the grippingedge 420 for engaging the syringe 10 above the plunger flange 54. Whenan actuator or the like (e.g., stepper motor) causes the gripper 410 tomove in a downward direction, the gripping edge 420 seats against theflange 54 and further movement of the gripper 410 causes the extensionof the plunger 50. Once the plunger 50 has been extended the prescribedprecise distance, the gripper 410 moves laterally away from the plunger50 so that the interference between the flange 54 of the plunger 50 andthe gripping edge 420 no longer exits. In other words, the gripper 410is free of engagement with the plunger 50 and can therefore bepositioned back into its initial position by being moved laterallyand/or in an up/down direction (e.g., the gripper 410 can move upward toits initial position). An exemplary plunger extending device isdescribed in commonly assigned U.S. patent application Ser. No.10/457,066, which is hereby incorporated by reference in its entirety.

Thus, the device 400 complements the device 300 in getting the syringe10 ready for the fluid transfer station at which time, a prescribedamount of medication or other medication is dispensed into the chamber30 of the barrel 20 as will be described in greater detail hereinafter.

Of course, it will be appreciated that the syringes 10 can be providedwithout caps 40 and thus, the device 300 is not needed to remove caps 40if the syringes 10 are loaded onto dial 130 without caps 40.

The device 400 is part of the overall programmable system and therefore,the distance that the gripper 410 moves corresponds to a prescribedmovement of the plunger 50 and a corresponding increase in the availablevolume of the chamber of the barrel 20. For example, if the prescribedunit dose for a particular syringe 10 is 8 ml, then the controllerinstructs the device 400 to move the gripper 410 a predetermineddistance that corresponds with the plunger 50 moving the necessarydistance so that the volume of the barrel chamber is at least 8 ml. Thispermits the unit dose of 8 ml to be delivered into the barrel chamber.As described below, the device 400 can be operated multiple times withreference to one syringe 10 in that the plunger 50 can be extended afirst distance during a first operation of the device 400 and a seconddistance during a subsequent second operation of the device 400.

In one example, after the syringe 10 has been prepared by removing thetip cap 40 and extending the plunger 50 a prescribed distance, thesyringe 10 is then delivered to the fluid transfer station 170 where afluid transfer device 500 prepares and delivers the desired amount ofmedication.

Now turning to FIG. 5 in which a drug preparation area is illustrated ingreater detail to show the individual components thereof. Morespecifically, a drug transfer area for the vial mode of operation of thesystem 100 is illustrated and is located proximate the rotary dial 130so that after one drug vial 60 is prepared (reconstituted), the contentsthereof can be easily delivered to one or more syringes 10 that aresecurely held in nested fashion on the rotary dial 130. As previouslymentioned, drug vials 60 are stored typically in the storage cabinet 110and can be in either liquid form or solid form or even be empty. Adriven member, such as a conveyor belt 111, delivers the drug vial 60from the cabinet 110 to a first robotic device (e.g., a pivotable vialgripper mechanism) 510 that receives the vial 60 in a horizontalposition and after gripping the vial with arms (grippers) or the like,the mechanism 510 is operated so that the vial 60 is moved to a verticalposition relative to the ground and is held in an upright manner.

The mechanism 510 is designed to deliver the vial 60 to a rotatablepedestal 520 that receives the vial 60 once the grippers of themechanism 510 are released. The vial 60 sits upright on the pedestal 520near one edge thereof that faces the mechanism 510 and is then rotatedso that the vial 60 is moved toward the other side of the pedestal 520.It will be understood that any number of different robotic mechanismscan be used to handle, move and hold the vial.

As the pedestal rotates, the vial 60 is scanned as by a barcode reader151 or the like and preferably a photoimage thereof is taken and thevial 60 is identified. If the vial 60 is not the correct vial, then thevial 60 is not used and is discarded using a gripper device that cancapture and remove the vial 60 from the pedestal before it is deliveredto the next processing station. The central control has a database thatstores all the identifying information for the vials 60 and therefore,when a dose is being prepared, the controller knows which vial (by itsidentifying information) is to be delivered from the cabinet 110 to thepedestal 520. If the scanning process and other safety features does notresult in a clear positive identification of the vial as compared to thestored identifying information, then the vial is automatically discarded(e.g., returned to a further inspection station) and the controller willinstruct the system to start over and retrieve a new vial.

The reader, such as a scanner, 151 can also read the vial 60 to ensurethat the proper vial 60 has been delivered and gripped by the roboticdevice. This is another safety check and can be implemented withbarcodes or the like. The reader 151 initially reads the barcode orother identifying information contained on the vial 60 and this readinformation is compared to a stored database that contains the inputteddrug information. If the product identification information does notmatch, the operator is notified and the vial 60 is not advanced to thenext station.

If the vial 60 is identified as being the correct vial, then a vialgripper device (robotic device) 530 moves over to the pedestal forretrieving the vial 60 (alternatively, this robotic device can be thesame robotic device that delivers the vial 60 to the pedestal). The vialgripper device 530 is configured to securely grip and carry the vial ina nested manner to the next stations as the drug is prepared for use.Details and operation of the vial gripper device 530 are described indetail in U.S. patent application Ser. No. 11/434,850, which is herebyincorporated by reference in its entirety. The robotic device 530includes a pair of grippers or arms 539 (gripper unit) that arepositionable between closed and open positions with the vial 60 beingcaptured between the arms in the closed position in such a manner thatthe vial 60 can be securely moved and even inverted and shaken withoutconcern that the vial 60 will become dislodged and fall from the arms.The arms thus have a complementary shape as the vial 60 so that when thearms close, they engage the vial and nest around a portion (e.g., neckportion) of the vial 60 resulting in the vial 60 being securely capturedbetween the arms. As with some of the other components, the arms can bepneumatically operated arms or some other mechanical devices.

In order to retrieve the vial 60 from the pedestal 520, the device 530is driven forward and then to one side so that it is position proximatethe pedestal 520. The gripper unit 539 is then moved downward so thatthe arms, in their open position, are spaced apart with the vial 60being located between the open arms. The gripper unit 539 is thenactuated so that the arms close and capture the vial 60 between thearms. Next the robotic device 530 is moved upward and the device 530 isdriven back to the opposite side so as to introduce the vial 60 to thenext station. The vial 60 is also inverted by inversion of the gripperunit 539 so that the vial 60 is disposed upside down.

The inverted vial 60 is then delivered to a station 550 where the vial60 is prepared by removing the safety cap from vial 60. This station 550can therefore be called a vial decapper station. Any number of devicescan be used at station 550 to remove the safety cap from the vial. Forexample, several exemplary decapper devices are disclosed incommonly-assigned U.S. Pat. No. 6,604,903 which is hereby incorporatedby reference in its entirety. After the vial 60 is decapped, the vial isthen delivered, still in the inverted position, to a cleaning station560 where the exposed end of the vial is cleaned. For example,underneath the removed vial safety cap, there is a septum that can bepierced to gain access to the contents of the vial. The cleaning station560 can be in the form of a swab station that has a wick saturated witha cleaning solution, such as an alcohol. The exposed area of the vial 60is cleaned by making several passes over the saturated wick whichcontacts and baths the exposed area with cleaning solution. After thevial 60 is cleaned at the station 560, the gripper unit 539 rotates sothat the vial 60 is returned to its upright position and remains heldbetween the gripper arms.

The vial 60 can then be delivered to a weigh station 540 (FIG. 8) wherethe weight of the vial with solid medication (or an empty vial or anyother object) is measured and stored in the computer system. Any numberof different devices, such as scales, can be used to weigh the vial;however, one exemplary device for weighing the vial 60 and any otherobject for that matter, is a load cell 542. Load cell 542 is atransducer for the measurement of force or weight, usually based on astrain gauge bridge or vibrating wire sensor. In particular and as shownin FIG. 8, the load cell 542 includes a housing or body 544 thatcontains the working components and electronics of the load cell 542 anda platform 546 on which the item, in this case, the vial, to be weighedis placed.

The load cell 542 is part of an overall automated and integrated systemand therefore, it contains software that communicates with the mastercontroller so that the operation of the complete system 100 can becontrolled, including the movement of the robotic device 530 that holdsand transport the vial 60 from one location to another location. Asshown in FIG. 8, the vial 60 is held by the robotic device about theneck portion and can therefore be delivered onto the load cell platform546. In one embodiment, the robotic device moves the vial 60 from thepedestal 520 to the platform 546.

The software controlling the robotic device is configured so that thevial grippers of the robotic device are first approximately level withthe standby pedestal 520 and at this point, the software of the loadcell gathers a predetermined number, such as 10-15 (e.g., 15) weightsfrom the load cell 542 which are considered the tare weight. The vial 60is then shuttled down to a predetermined distance, such as 2.5 mm, abovethe load cell platform 546. From this predetermined distance (e.g., 2.5mm), the load cell software shuttles the vial 60 down towards the loadcell platform 546 very slowly, while monitoring the weights returned bythe load cell 542 to determine the exact moment the vial makes contactwith the platform 546 (i.e., which will register a marked increase inobserved weight). At the moment the vial contact the platform, thesoftware instructs the vial grippers to open and all vertical movementof the vial is stopped. A predetermined time, such as 0.5 seconds, afterthe vial grippers open, the software collects a predetermined number,such as 10-15 (e.g., 15) weight measurements from the load cell, whichshall be considered the weight of the vial and the load cell platform.

The data collected by the load cell can be processed in any number ofdifferent ways and in one embodiment, as shown in FIG. 17, a graph iscreated where the x axis is the measured amplitude (A to D counts) andthe y axis is the time (ms). The point at which the vial makes contactwith the load cell 542 is indicated at line 545. The vial weight (A to Dcounts) is equal to the measured weight-tare. The vial weight (grams) isequal to (vial weight (A to D counts)*slope)+intercept. In anotherembodiment, data is not displayed but is manipulated inside the mastercontroller and the final results are used for system reaction.

As will be described below, since the initial weight of the vial ismeasured and stored and later, the weight of the reconstituted drug inthe vial is calculated, a safety check can be performed to determine ifthe proper drug product was fabricated.

In another embodiment, such as in a serial dilution scheme, an emptychild vial is weighed and diluent is added and weighed. After that, drugis added to the vial with diluent and weighed. Then the systemcalculates the amount of the diluent and drug added to the vial andknows the final composition of the drug in the vial.

The device 530 then advances forward to the fluid transfer station 170according to one embodiment. The fluid transfer station 170 is anautomated station where the medication (drug) can be processed so thatit is in a proper form for delivery (injection) into one of the syringes10 that is coupled to the rotary dial 130. As mentioned before, thefluid transfer station 170 is used during operation of the system, atleast partially, in a vial mode of operation. When the vial 60 containsonly a solid medication and it is necessary for a diluent (e.g., wateror other fluid) to be added to liquify the solid, this process is calleda reconstitution process. Alternatively and as will be described indetail below, the medication can already be prepared and therefore, inthis embodiment, the fluid transfer station is a station where a preciseamount of medication is simply aspirated or withdrawn from the vial 60and delivered to the syringe 10.

For purpose of illustration, the reconstitution process is firstdescribed. After having been cleaned, the vial 60 containing aprescribed amount of solid medication is delivered in the uprightposition to the fluid transfer station 170 by the device 530. As will beappreciated, the device 530 has a wide range of movements in the x, yand z directions and therefore, the vial 60 can easily be moved to a setfluid transfer position. At this position, the vial 60 remains uprightand a fluid transfer device 580 is brought into position relative to thevial 60 so that an automated fluid transfer can result therebetween.More specifically, the fluid transfer device 580 is the main means forboth discharging a precise amount of diluent into the vial 60 toreconstitute the medication and also for aspirating or withdrawing thereconstituted medication from the vial 60 in a precise, prescribedamount. The device 580 is a controllable device that is operativelyconnected to a control unit, such as a computer, which drives the device580 to specific locations at selected times and controls with a highdegree of precision the operation and discharge of medication. Thecontrol unit can be a personal computer that runs one or more programsto ensure the coordinated operation of all of the components of thesystem 100.

As illustrated in FIGS. 1 and 6, one exemplary fluid transfer device 580is a robotic device having a movable cannula unit 590 that can be movedin a controlled up and down and side-side, etc., manner so to eitherlower it or raise it relative to the vial 60 in the fluid transferposition and to move it into the proper position. For example, thecannula unit 590 can be pneumatically operated or operated by anelectric motor or some other means to cause the controlled movement ofthe cannula unit 590.

At one end of the cannula unit 590, a cannula 610 is provided. Thecannula 610 has one end that serves to pierce the septum of the vial 60and an opposite end that is connected to a main conduit 620 that servesto both deliver diluent to the cannula 610 and ultimately to the vial 60and receive aspirated reconstituted medication from the vial 60.Preferably, the cannula 610 is of the type that is known as a ventedcannula which can be vented to atmosphere as a means for eliminating anydripping or spattering of the medication during an aspiration process.More specifically, the use of a vented needle to add (and withdraw) thefluid to the vial overcomes a number of shortcoming associated withcannula fluid transfer and in particular, the use of this type of needleprevents backpressure in the vial (which can result in blow out orspitting or spraying of the fluid through the piercing hole of thecannula). The venting takes place via an atmospheric vent that islocated in a clean air space and is formed in a specially designed hubthat is disposed over the needle. By varying the depth that the needlepenetrates the vial, the user can control whether the vent is activatedor not. It will be appreciated that the venting action is a form of dripcontrol (spitting) that may otherwise take place. Drip control is aprocess after aspiration where fluid is sucked back into the cannula 610(tube) to prevent dripping of the drug and then the cannula 610 istransferred to the syringe for dispensing.

Moreover, the cannula 610 is also preferably of the type that ismotorized so that the tip of the cannula 610 can move around within thevial 60 so that cannula 610 can locate and aspirate every last drop ofthe medication. In other words, the cannula 610 itself is mounted withinthe cannula unit 590 so that it can move slightly therein such that thetip moves within the vial and can be brought into contact with themedication wherever the medication may lie within the vial 60. Thus, thecannula 610 is driven so that it can be moved at least laterally withinthe vial 60.

An opposite end of the main conduit 620 is connected to a fluid pumpsystem 630 that provides the means for creating a negative pressure inthe main conduit 620 to cause a precise amount of fluid to be withdrawninto the cannula 610 and the main conduit 620, as well as creating apositive pressure in the main conduit 620 to discharge the fluid (eitherdiluent or medication) that is stored in the main conduit 620 proximatethe cannula 610. One exemplary fluid pump system 630, as well as theoperation thereof, is described in great detail in the '823 patent,which has been incorporated by reference. The net result is that theprescribed amount of diluent that is needed to properly reconstitute themedication is delivered through the cannula 610 and into the vial 60.Accordingly, the cannula 610 pierces the septum of the vial and thendelivers the diluent to the vial and the vial 60 can be inverted tocause agitation and mixing of the contents of the vial or the vial canbe delivered to a separate mixing device to cause the desired mixing ofthe contents.

After the medication in the vial 60 has been reconstituted as byinversion of the vial and/or mixing, as described herein, the fluid pumpsystem 630 is then operated so that a prescribed amount of medication isaspirated or otherwise drawn from the vial 60 through the cannula 610and into the main conduit 620. Before the fluid is aspirated into themain conduit 620, an air bubble is introduced into the main conduit 620to serve as a buffer between the diluent contained in the conduit 620 tobe discharged into one vial and the aspirated medication that is to bedelivered and discharged into one syringe 10. It will be appreciatedthat the two fluids (diluent and prepared medication) can not be allowedto mix together in the conduit 620. The air bubble serves as an air capin the tubing of the cannula and serves as an air block used between thefluid in the line (diluent) and the pulled medication. According to oneexemplary embodiment, the air block is a 1/10 ml air block; however,this volume is merely exemplary and the size of the air block can bevaried.

After aspirating the medication into the main conduit 620, the fluidtransfer device 580 is rotated as is described below to position thecannula 610 relative to one syringe 10 that is nested within the rotarydial 130. The pump mechanism 630 is actuated to cause the controlleddischarge of the prescribed amount (dosage) of medication through thecannula 610. As the pump mechanism 630 is operated, the air blockcontinuously moves within the main conduit 620 toward the cannula 610.When all of the pulled (aspirated) medication is discharged, the airblock is positioned at the end of the main conduit signifying that thecomplete pulled medication dose has been discharged; however, none ofthe diluent that is stored within the main conduit 620 is dischargedinto the syringe 10 since the fluid transfer device 580, and moreparticularly, drivers or the like of the system, operate with suchprecision that only the prescribed medication that has been previouslypulled into the main conduit 620 is discharged into the vial 60.

It will be appreciated that the fluid transfer device 580 may need tomake several aspirations and discharges of the medication into the vial60 in order to inject the complete prescribed medication dosage into thevial 60. In other words, the cannula unit 590 can operate to firstaspirate a prescribed amount of fluid into the main conduit 620 and thenis operated so that it rotates over to and above one syringe 10 on therotary dial 130, where one incremental dose amount is discharged intothe vial 60. After the first incremental dose amount is completelydischarged into the syringe 10, the cannula unit 590 is brought back thefluid transfer position where the fluid transfer device is operated sothat a second incremental dose amount is aspirated into the main conduit620 in the manner described in detail hereinbefore. The cannula unit 590is brought back to the rotary dial 130 above the syringe 10 thatcontains the first incremental dose amount of medication. The cannula610 is then lowered so that the cannula tip is placed within theinterior of the syringe 10 and the cannula unit 590 is operated so thatthe second incremental dose amount is discharged into the syringe 10.The process is repeated until the complete medication dose istransferred into the syringe 10.

It will further be appreciated that the cannula unit 590 can beconfigured so that it can be operated at varying speeds of aspiration.For example, the software associated with the cannula unit 590 can offerthe operator a number of different aspiration programs to choose from orthe operator can program the unit 590 with a unique aspiration processor program by entering or inputting aspiration instructions. Forexample, the unit 590 can operate by first aspirating the medication ata first speed and for a first time period and then aspirating themedication at a second speed for a second time period. According to oneembodiment, the first speed is greater than the second speed and thefirst time period is greater than the second time period; however, theopposite can be equally true and it will further be appreciated thatthere may be more than 2 distinct aspiration phases. For example, therecan be a first aspiration phase that operates at a first aspirationspeed, a second aspiration phase that operates at a second speed and athird aspiration phase that operates at a third aspiration speed. Thespeed of the aspiration can be varied by simply varying the speed of thepump. In this manner, the initial aspiration of the medication canoperate at a higher speed and then when only a small amount ofmedication remains, the aspiration speed can be reduced so as tocontrollably withdraw the last portion of the medication that iscontained in the container.

In addition, the reconstitution equipment, including the cannula unit590, can possess various motions, including a gentle inversion to “wet”the solid drug in the vial 60 with the diluent that was added to thevial 60 and an agitation motion which causes the drug to go intosolution. The system 100, and in particular, the reconstitution modulethereof, is configured to operate in this manner since thereconstitution process uses both motions based upon key drugcharacteristics. A database controls the differences observed from drugto drug. In one embodiment, the robotic gripper holds the drug vial 60during the agitation cycle so that is does not become dislodged. Theassociated software preferably possesses a QA function that enables thedrug to be tested under various conditions to assure that the settingseffect putting the drug into solution, and the ability to have thereconstituted drug manually observed, by the robotic gripper removingthe drug from the reconstitution station 170 and presenting the vial 60to a window (when the system 100 is contained within an enclosedstructure as described below) for an operator to look at the vial 60 andenter their observations into a reconstitution QA database. If the drugwas not fully in solution, the entry into the QA database can be used toadjust the formulary to require an additional increment of agitationtime.

In other words, the software is designed so that once the operatorenters the drug order, the master controller accesses the reconstitutiondatabase that includes detailed instructions as to how to prepare thereconstituted drug of the order and part of these instructions includeinstructions on the aspiration process as discussed below. Inparticular, once the drug type of the order is identified, theaspiration instructions are determined, including the number, length andcharacteristics of the agitation phases and motions, and then thecontroller instructs the equipment to execute these instructions.

In yet another embodiment, a prescribed dosage of medication can bedrawn from the vial 60 by mating a syringe 10 with the vial 60 as byinserting the needle (vented cannula) of the syringe into and throughthe septum of the vial 60 and then extending the plunger apredetermined, precise distance so as to draw a precise amount dosageinto the syringe from the drug vial 60. The device and method forcontrolling the extension of the plunger is described in great detailherein.

Once the syringe 10 receives the complete prescribed medication dose,the vial 60 that is positioned at the fluid transfer position can eitherbe (1) discarded or (2) it can be delivered to a holding station 700where it is cataloged and held for additional future use. Morespecifically, the holding station 700 serves as a parking location wherea vial that is not completely used can be used later in the preparationof a downstream syringe 10. In other words, the vials 60 that are storedat the holding station 700 are labeled as multi-use medications that canbe reused. These multi-use vials 60 are fully reconstituted so that atthe time of the next use, the medication is only aspirated from thevials 60 as opposed to having to first inject diluent to reconstitutethe medication. The user can easily input into the database of themaster controller which medications are multi-use medications and thuswhen the vial 60 is scanned and identified prior to being delivered tothe fluid transfer position, the vial 60 is identified and marked as amulti-use medication and thus, once the entire medication dose transferhas been performed, the vial gripper device 530 is instructed to deliverthe vial 60 to the holding station 700. Typically, multi-use medicationsare those medications that are more expensive than other medications andalso are those medications that are used in larger volumes (quantities)or are stored in larger containers and therefore come in large volumes.

The holding station 700 is simply a location where the multi-use vialscan be easily stored. For example, the holding station 700 is preferablya shelf or even a cabinet that contains a flat surface for placing thevials 60. Preferably, there is a means for categorizing and inventoryingthe vials 60 that are placed at the holding station 700. For example, agrid with distinct coordinates can be created to make it easy todetermine where each vial 60 is stored within the holding station 700.

Once the device 530 has positioned the vial 60 at the proper location ofthe holding station 700, the gripper unit is operated so that the armsthereof release the vial 60 at the proper location. The device 530 thenreturns back to its default position where it can then next beinstructed to retrieve a new vial 60 from the pedestal 520.

If the vial 60 is not a multi-use medication, then the vial 60 at thefluid transfer position is discarded. When this occurs, the device 530moves such that the vial 60 is positioned over a waste chute orreceptacle and then the gripper unit is actuated to cause the vial 60 todrop therefrom into the waste chute or receptacle. The device 530 isthen ready to go and retrieve a new vial 60 that is positioned at thepedestal 520 for purposes of either reconstituting the medication orsimply aspirating an amount of medication therefrom or a vial from theholding station 700 can be retrieved.

As previously mentioned, during the reconstitution process, it is oftennecessary or preferable to mix the medication beyond the mere inversionof the vial and therefore, the vial 60 can be further agitated using amixing device or the like 710. In one embodiment, the mixing device 710is a vortex type mixer that has a top surface on which the vial 60 isplaced and then upon actuation of the mixer, the vial 60 is vibrated orotherwise shaken to cause all of the solid medication to go intosolution or cause the medication to be otherwise mixed. In yet anotherembodiment, the mixing device is a mechanical shaker device, such asthose that are used to hold and shake paint cans. For example, the vial60 can be placed on support surface of the shaker and then an adjustablehold down bar is manipulated so that it travels towards the vial andengages the vial at an end opposite the support surface. Once the vial60 is securely captured between these two members, the shaker device isactuated resulting in the vial 60 being shaken to agitate the medicationand ensure that all of the medication properly goes into solution. Inaddition, the mixing device 710 can also be configured so that it is inthe form of a robotic arm that holds the vial by means of grippermembers (fingers) and is operatively connected to a motor or the likewhich serves to rapidly move the arm in a back and forth manner to causemixing of the medication.

In yet another embodiment, reconstitution is done using a processcommonly called “milking”. In this process, diluent is added to the drugvial to be reconstituted and with a series of “pull and push” motions offluid, reconstitution is achieved. In this process, a non-venting needleis used.

FIG. 18 shows yet another device for mixing the contents of the drugvial. In particular, FIG. 18 shows a vibratory reconstitution system1400 that receives and holds a vial containing solid medication mixedwith diluent and is configured to be controllably actuated to causemixing of the diluent and solid medication. The system 1400 includes anactuator 1410, such as a motor, and a first plate 1420 and a secondplate 1430 that face one another and are constructed to receive a drugvial therebetween in a grasped manner.

More specifically, the first plate 1420 includes a first feature 1422and the second plate 1430 includes a second feature 1432 that face eachother and define a cavity 1440 that receives and holds the drug vial. Inthe illustrated embodiment, the first plate 1420 and the second plate1430 each has a circular shape. The first and second plates 1420, 1430can move in unison so as to permit the controlled mixing of the drugvial that is captured between the plates 1420, 1430. The plates 1420,1430 are operably coupled to the motor 1410 to allow controlled movementof the plates 1420, 1430. It will therefore be appreciated that themotor 1410 can be a multi-speed motor or otherwise have multipledifferent modes of operation to permit controlled wetting or mixing ofthe drug vial. For example, in one mode, the contents of the drug vialare wetted by causing rotation of the first and second plates 1420, 1430to cause the diluent in the drug vial to come into contact with thesolid in the drug vial resulting in wetting of the contents. Inaddition, the first and second plates 1420, 1430 can be operated in amixing mode in which the plates 1420, 1430 oscillate or otherwise move(impart vibrations) to cause a mixing of the contents of the drug vial.

It will be understood that the system 1400 is not limited to being usedwith the drug vial but instead, the system 1400 can receive and hold asyringe (drug delivery device) and therefore, function as a holdingstation or parking station where the syringe is held in place until timefor delivering the syringe to a next station by means of a roboticdevice or the like.

As briefly mentioned before, the entire system 100 is integrated andautomated and also utilizes a database for storing identifying data,mixing instructions, and other information to assist in the preparationof the medication. There are also a number of safety features and checklocations to make sure that the medication preparation is proceeding asit should.

For example, the database includes identifying information so that eachvial 60 and syringe 10 can be carefully kept track of during each stepof the process. For example, the reader (e.g., barcode scanner orcamera) 151 and the photoimaging equipment serve to positively identifythe vial 60 that is delivered from the drug storage 110. Typically, theuser will enter one or more medication preparation orders where thesystem 100 is instructed to prepare one or more syringes that containspecific medication. Based on this entered information or on a storedmedication preparation order that is retrieved from a database, the vialmaster controller determines at which location in the cabinet thecorrect vial 60 is located. That vial 60 is then removed using a roboticgripper device (not shown) and is then placed on the conveyor belt 111and delivered to the mechanism 510 pivots upright so that the vial 60 ismoved a vertical position relative to the ground and is held in anupright manner and is then delivered to the rotatable pedestal 520. Atthe pedestal 520, the vial 60 is scanned to attempt to positivelyidentify the vial 60 and if the scanned identifying information matchesthe stored information, the vial 60 is permitted to proceed to the nextstation. Otherwise, the vial 60 is discarded.

Once the vial 60 is confirmed to be the right vial it proceeds to thefluid transfer position. The master controller serves to preciselycalculate how the fluid transfer operation is to be performed and thenmonitors the fluid transfer operations has it is occurring. Morespecifically, the master controller first determines the steps necessaryto undertake in order to perform the reconstitution operation. Mostoften during a reconstitution operation, the vial 60 that is retrievedfrom the drug storage 110 contains a certain amount of medication in thesolid form. In order to properly reconstitute the medication, it isnecessary to know what the desired concentration of the resultingmedication is to be since this determines how much diluent is to beadded to the vial 60. Thus, one piece of information that the user isinitially asked to enter is the concentration of the medication that isto be delivered to the patient as well as the amount that is to bedelivered. Based on the desired concentration of the medication, themaster controller is able to calculate how much diluent is to be addedto the solid medication in the vial 60 to fully reconstitute themedication. Moreover, the database also preferably includes instructionsas to the mixing process in that the mixing device is linked to and isin communication with the master controller so that the time that themixing device is operated is stored in the database such that once theuser inputs the medication that is to be prepared and once the vial 60is scanned and identified, the system (master controller or CPU thereof)determines the correct of time that the vial 60 is to be shaken toensure that all of the medication goes into solution.

Once the master controller determines and instructs the workingcomponents on how the reconstitution operation should proceed, themaster controller also calculates and prepares instructions on how manydistinct fluid transfers are necessary to deliver the prescribed amountof medication from the vial 60 to the syringe 10. In other words, thecannula unit 590 may not be able to fully aspirate the total amount ofmedication from the vial 60 in one operation and therefore, the mastercontroller determines how many transfer are needed and also theappropriate volume of each aspiration so that the sum of the aspirationamounts is equal to the amount of medication that is to be delivered tothe syringe 10. Thus when multiple aspiration/discharge steps arerequired, the master controller instructs and controls the operation ofthe pump mechanism so that the precise amounts of medication areaspirated and then discharged into the syringe 10. As previouslydescribed, the pump mechanism operates to cause the proper dose amountof the medication to be first aspirated from the vial and thendischarged into the syringe. This process is repeated as necessary untilthe correct dose amount is present in the syringe 10 in accordance withthe initial inputted instructions of the user. Yet in anotherembodiment, multiple doses are aspirated from the vial and smaller dosesare dispensed into multiple syringes.

After transferring the proper precise amount of medication to onesyringe 10, the master controller instructs the rotary dial to moveforward in an indexed manner so that the next empty syringe 10 isbrought into the fluid transfer position. The cannula 610 is alsopreferably cleaned after each medication dose transfer is completed soas to permit the cannula 610 to be reused. There are a number ofdifferent techniques that can be used to clean the cannula 610 betweeneach medication transfer operation. For example, the cleaning equipmentand techniques described in commonly assigned U.S. Pat. No. 6,616,771and U.S. patent application Ser. No. 10/457,898 (both of which arehereby incorporated by reference in their entireties) are both suitablefor use in the cleaning of the cannula 610.

In one embodiment, the cannula 610 is rotated and positioned so that theneedle of the cannula 610 is lowered into a bath so that fluid isexpelled between the inside hubs of the syringe 10 for cleaning of theinterior components of the cannula 610. The cannula 610 is thenpreferably dipped into a bath or reservoir to clean the outside of thecannula 610. In this manner, the cannula 610 can be fully cleaned andready for a next use without the need for replacement of the cannula610, which can be quite a costly endeavor.

In yet another embodiment, a medication source, such as a bag that isfilled with liquid medication that has already been properlyreconstituted, is connected to an input portion of a peristaltic pump bymeans of a first conduit section. A second conduit section is connectedto an output port of the pump and terminates in a connector. Theconnector is of the type that is configured to hermetically seal with anopen barrel tip of the syringe 10 that is nested within the rotary dial130 and is marked to receive medication. The connector typicallyincludes a conduit member (tubing) that is surrounded by a skirt memberor the like that mates with the outer hub of the syringe barrel. Aflange or diaphragm can be provided for hermetically sealing with thesyringe barrel (outer hub).

In commonly assigned U.S. patent Ser. No. 11/434,850 (which is herebyincorporated by reference in its entirety), it is described how theplunger 50 of the syringe 10 can be extended with precision to aprescribed distance. In that application, the plunger 50 is extended tocreate a precise volume in the barrel that is to receive a preciseprescribed dosage of medication that is injected therein at a downstreamlocation. However, it will be appreciated that the action of extendingthe plunger 50 can serve more than this purpose since the extension ofthe plunger 50 creates negative pressure within the syringe barrel andthus can serve to draw a fluid therein. For example, once the connectoris sealingly mated with the open syringe tip end, the medication source(e.g., an IV bag) is fluidly connected to the syringe 10 and thus can bedrawn into the syringe barrel by means of the extension of the plunger50. In other words, the plunger 50 is pulled a precise distance thatresults in the correct size cavity being opened up in the barrel forreceiving the fluid but also the extension of the plunger creates enoughnegative pressure to cause the medication to be drawn into the syringebarrel. This is thus an alternative means for withdrawing the properamount of medication from a member (in this case the source) andtransferring the desired, precise amount of medication to the syringe10. The operation of this alternative embodiment can be referred to asoperating the system in reservoir mode and is shown in FIG. 14. Oneadvantage of this embodiment is that multiple syringe drivers or thelike or some type of pump mechanism are not needed to pump themedication into the syringe 10 but rather the drawing action is createdright at the rotary dial 130. This design is thus fairly simple;however, it is not suitable for instances where drug reconstitution isnecessary.

It will also be appreciated that the source does not have to be amedication source in that it does not have to contain an active drug butinstead, the source can contain diluent that is to be drawn in aprescribed volume into the syringe, especially for purposes of serialdilution, as described below. More specifically and as illustrated inFIGS. 1 and 6, in the reservoir mode, the fluid source can consist of anumber of drug delivery bags 750 that are already filled either premixedmedication or with only diluent that is later used to dilute medicationas described in detail below. The filled drug delivery bags (e.g., IVbags) 750 can be hung in a select area, with each bag 750 having anoutlet conduit through which the fluid contained in the bag is drawn. Itwill be appreciated that the outlet conduits associated with the drugdelivery bags 750 can be interconnected as by connecting each of the bagoutlet conduits to a common line 754 with one or more valves or the likebeing used to selectively control which bag outlet line is in directlyfluid communication with the common line 754. In this manner, a numberof different medications can be hung and be ready for use and the userof the system merely has to manipulate the valve (either manually orautomatically using a computer, etc.) to connect the selected bag 750 tothe common line 754.

The computer that operates the entire system can be in communicationwith the valves to permit and to control the flow of the prescribeddesired fluid from one bag 750 to the common line 754. The common line754 is thus in communication at a first end with the outlet conduit ofthe select bag 750 that contains the desired fluid and another end ofthe common line 754 is configured to mate with a syringe inlet port topermit the fluid in the bag 750 to be drawn into the bag by extendingthe plunger 50 a predetermined distance as described above to cause aprecise, target volume of fluid to be drawn into the barrel of thesyringe 10. For example, the free end of the common line (conduit) 754can contain a connector or adapter (e.g., a stopper element) 760 that isconfigured to mate with the inlet opening (port) of the syringe barrelin a sealed manner. Since it is the extension of the plunger 50 thatgenerates the means of drawing a prescribed volume of fluid into thesyringe barrel, the connection between the end of the common line (e.g.,the connector thereof) and the syringe barrel is such that the creationof negative pressure in the syringe barrel 20 causes the fluid to bedrawn into the barrel. In other words, it is desirable to establish aseal or the like between the end of the common line 754 and the syringebarrel so that negative pressure can be established and maintained inthe syringe barrel.

For purpose of illustration, the delivery of fluid from one sourceduring operation of the reservoir mode to one syringe 10 is performed atthe reservoir mode fluid delivery station 770 that is arranged relativeto the other stations of the system 100.

According to one embodiment, the free end of the common line 754 issecured to a controllable, movable device, 765 such as a robotic arm oran automated arm, that can be controllably moved. In particular, themovable device is moved vertically at least along a linear axis so as todrive the free end of the common line 754 (the connector) into a sealedcoupling with the syringe barrel when it is driven in one direction orwhen it is driven in the opposite direction, the common line disengagesfrom the barrel of the syringe 10 to permit the syringe to be advancedto another station, such as the fluid transfer station 170 describedabove where reconstituted drug can be delivered into a syringe 10 thatwas previously injected with fluid through the common line 754 from thefluid source when operating in reservoir mode.

It will be appreciated that the reservoir drug delivery station 770 andthe fluid transfer station 170 are different stations that are locatedat different locations, such as adjacent stations along the dial 130.

According to one aspect of the present invention, a serial dilutionoperation can be performed by the system 100 by performing one or moreoperations at the reservoir drug delivery station 770, where fluid isdelivered to a syringe from a source, such as one bag 750, and the drugdelivery station 170 where a drug can be reconstituted in a drug vial 60before injection into a drug delivery device (syringe 10). Preferably,the station 170 is downstream of the station 770 so that loaded syringes10 are first processed at station 770 and then is processed at station170. In general, serial dilution involves and provides a process bywhich a commercially available injection is diluted to a lowerconcentration to produce doses smaller than could otherwise be measuredby the device that prepares the medication. Pediatric hospitals oftenmust produce doses of injectable medications that are immeasurably smallwhen prepared with commercially available medications. This requiresthat the drug therefore be diluted to a concentration where the requireddose becomes measurable. This can require one or more dilution steps toreach a required concentration.

The system 100 of the present invention, along with other similardevices, has practical measurement limitations based on its deliverytechnology. For example, doses that are aspirated from a vial with apump, such as a Kloehn type pump, at the drug delivery station 170 canbe reliably measured down to a volume of 0.5 ml; doses delivered at thereservoir mode drug delivery station 770 from the reservoir (bag 750)can be accurately delivered down to a volume of approximately 2 ml witha ±0.125 ml margin of error.

Since the reservoir mode is designed to batch fill a series of identicalsyringes 10, reservoir mode restrictions can be overcome in the processof preparing the reservoir itself. That is, the reservoir can beprepared in a more dilute state, and any dilution necessary to achievethe final concentration are performed during preparation of thereservoir prior to mounting the reservoir (bag) within the system 100 atthe station 770.

When a syringe 10 is prepared from a vial 60, as in reconstitution mode,at the drug delivery station 170, it is ordinarily filled from the vialat its commercial concentration, which can be determined at themanufacturer (because it is already a liquid) or can be determined bythe reconstitution for the vial in the formulary. If further dilution isrequired, it cannot be performed in advance because doing so severelylimits the shelf of the product. It must either be diluted in thesyringe 10 (this is referred to as QSing the syringe 10), or theadditional dilution must be prepared “on the fly” within the system 100.Currently, there is a mechanism to perform additional dilution in thesyringe 10, but there is no mechanism to perform additional dilution inanother vial.

The solution to the above deficiency that is achieved and provided bythe system 100 is to permit the system 100 itself to prepare a dilutionas needed. The process involves having the system 100 prepare aninjectable product by further diluting the original available productand then using the dilution to prepare the dose. The system 100 is thusconfigured to store and manipulate sterile empty vials 60 within thevial cabinet at station 110, and to maintain knowledge of both theoriginal and diluted products until they are discarded or consumed.

In other words, if the manufacturer's product is available as a fluid,of concentration X, and the dose required a concentration X/10, thesoftware would cause the device to aspirate 1 ml of the original drugfrom the original container, deliver that 1 ml into an empty container,and then deliver 9 ml of diluent to product a final concentration ofX/10. This presumes that the original drug solution and the diluent mixvolumetrically (e.g., that 1 ml of drug and 9 ml of diluent mix tocreate a total volume of 10 ml). In practice, pediatric applications canrequire dilutions of 10- to 30-fold. The requirement for the ability toperform dilutions must accommodate the fact that not all immeasurabledoses are intended since a dose may be immeasurable because it wasentered incorrectly. Since, in at least one embodiment of the system100, the system 100 lacks the information necessary to determine whethera dose is clinically appropriate for a given patient, the system 100 isconfigured to permit dilution only when one is required to prepare adose in measurable range and there is a pre-defined dilution productthat can be prepared from a commercially available product defined forthat purpose in the formulary.

For the purpose of the present application, the term “parent vile”refers to a vial containing a commercially available concentration of adrug that is either supplied as a fluid from the manufacturer, or wasreconstituted according to its formulary definition within the system100. The term “child vial” refers to a vial containing a concentrationof a drug that is not commercially available that is prepared bydiluting an aliquot from a parent vial with sufficient diluent to createa new, lower concentration of drug.

According to one embodiment of the present invention and based on thespecifications of one system 100, preparation of the diluted product isrequired if at least one syringe requires a dose volume of less than 0.5ml from the parent drug. For example, if a syringe 10 requires a 1:10dilution for a 2 ml dose, the 0.2 ml to be taken from the parent vial istoo small. As a result, if dilution is required, then it is preferred touse up the dilution before using up the contents in the parent vial.This can be accomplished by sorting the syringes within a drug inascending order by dose. This way, the smaller doses will force creationof the diluted product (if required) and subsequent syringes 10 will usethat product until it is consumed.

One will appreciate that there is a parent-child relationship betweenthe diluted product and the non-diluted product from which it can bemade. The commercially available product from which the dilution is tobe prepared is the parent and the resulting diluted drug solution is thechild. The process of creating the child product should be sufficientlyflexible that the system 100 is able to use the best available parentfor the process and in particular, the system 100 (and the softwarethereof is able to handle the following scenarios: (1) there is noparent vial already available on the hold location—the software shoulddrop a new parent vial from the drug cabinet 110 choosing the smallestvial that can deliver the quantity of parent medication needed toprepare the child; (2) there is no parent vial available on the holdlocation—there are additional syringes that will be prepared directlyfrom the parent vial, in which case the software of the system 100should drop a new parent vial from the drug cabinet 110 choosing thesmallest vial that can deliver the quantity of parent medication neededto prepare the child and the additional syringes; (3) a parent vial forthe drug to be diluted is already on the hold location and hassufficient supply to create the dilution—the software of the system 100should use the parent vial on the hold location to prepare the child;and (4) a parent vial for the drug to be diluted is already on the holdlocation and does not contain sufficient drug to prepare the child—thesoftware should drop a new parent vial from the drug cabinet and shouldchoose the smallest vial that will permit preparation of the child.These aspects of the present system 100 are described in greater detailbelow.

According to one embodiment of the present invention, the system 100includes a method of dilution in which a formulary contains a productdefinition and a container definition for each child product (dilution)that can be prepared by the system 100. For example, a Clindamycin 5mg/ml dilution in a 30 ml vial will exist in the formulary asClindamycin 150 mg container and a Clindamycin 5 mg/ml, 30 ml productvial. The vial product will be a specially marked product whoseformulary definition contains: (i) the product ID of a commerciallyavailable product from which it is prepared, (ii) the volume of thecommercial product needed to prepare the dilution, and (iii) a volume ofdiluent needed to prepare the final dilution.

The system 100 and in particular, the inventory tracking softwarethereof, assigns each child product to a specific column in the drugcabinet 110. That column in the drug cabinet 110 stores a sterile, emptyvial for use in preparing the dilution that is labeled with the drugname, concentration, volume and bar code. The system 100 includes a vialroutine that assigns a vial to a syringe 10 when it is loaded onto thedial 130 and has additional logic that determines vial suitability basedon the dose volume and concentration. This routine of the system 100searches each product in the inventory for the requested drug and thenselect the product that will provide the drug in the smallest measurablevolume.

If the selected drug is a dilution, the software of the system 100 willfirst cause the automated components of the system 100 to locate andacquire the parent commercially available vial, reconstitute it, ifnecessary, aspirate the defined volume from the parent vial and thenpark the parent vial in an available hold location. If there arepreviously loaded syringes 10 that will use an already-defined childvial that has not yet been created but for which the entire vial has notbeen committed, the software will assign the syringe 10 to that vial 60.If there is already a vial 60 on a hold location (station 700) thatcontains the same drug in the same concentration as the designatedparent vial, the software will use the vial on the hold location toprepare the child. If there are previously loaded, unfilled syringesthat are to be filled from the parent vial directly, and there is sparecapacity in the parent vial, the software of the present system 100prepares the child from the parent vial assigned to those previouslyloaded syringes 10. If a new child vial is needed, and a new parent vialis needed, the software of the system 100 will query the queue for othersyringes that can be prepared from the parent vial. If a new child vialis needed, and a new parent vial is needed, and no other parent supplyis needed, the software will drop a parent vial as the assigned parentfrom the formulary. If the particular assigned parent is not available,the software of the system 100 locates another vial of the same drug andconcentration that can be used to prepare the child.

The software of the present invention then causes the automated system100 to “drop” an empty vial from the dilution product volume, and injectthe defined volume of drug followed by the required amount of diluent toprepare the requested dilution. To speed up the operation, the parentvial can be agitating while the empty is vial is dropped and verified.If a child already exists on the hold location and it has availablecapacity, no new child vial is dropped from the drug cabinet 110. If thechild vial is not on the hold location, or if such a vial on the holdlocation lacks capacity to fill the syringe 10, the software of thesystem 100 drops a new child vial and prepares it from the parent vialcontents and diluent. For example, to prepare a 5 mg/ml solution ofClindamycin from a commercially available 150 mg/ml solution, thepresent system 100 injects 1 ml of the commercially availableClindamycin and 29 ml of diluent into a 30 ml empty vial labeled for thedilution. Similarly, to prepare a 10 mg/ml Cefazolin solution from a 1gm/5 ml (200 mg/ml solution), the system 100 is instructed toreconstitute the Cefazolin at the fluid delivery station 170 asdescribed herein, aspirate 1 ml from the reconstituted vial, acquire a20 ml sterile empty vial, inject the 1 ml of Cefazolin 200 mg/ml,followed by 19 ml of water to create a 20-fold dilution. Afteragitating, the fluid in the mixer, the software of the present system100 then aspirates the final dose out of the vial 60 and injects thedose into the syringe 10. Agitating the vial in the mixer or between thegrippers of the robotic transporter is likely inadequate because thedrug is already a liquid and would only require flipping the vial onceor twice.

The above process is described in detail with reference to FIG. 15 whichshows a flowchart of the dilution process. It will be appreciated thatthere are a number of advantages of the serial dilution capabilities ofthe system 100 and in particular, the serial dilution functionalitypermits customized drug solutions to be prepared from commercial drugsolutions and the need for such customized drug preparation can bedetermined at run time (in real time) and if so, the automated system100 can react to that need by preparing (if needed) the commercial drugproduct and then using the commercial drug product (e.g., areconstituted medication) to prepare the custom drug solution.

It will be appreciated that in the above dilution process, each dilutionconsumes two positions in the “parking lot” or holding station 700, onefor the parent vial and one for the diluted vial. This makes it likelythat prepared dilutions that are not used immediately will be discardedbefore they are consumed to make way for preparation of other dilutedproducts. One exception to this would be to store the parent vial in themixer 710 when its not being used, especially, when the mixer 710includes a pair of gripping elements between which the vial is receivedand held. If all of the drug is used up in either of the vials (parentand child), only one of the hold areas would need to be used. If both ofthe vials (parent and child) are used up, none of the hold areas wouldbe used. Space in the drug cabinet 110 is to be committed for the vialslabeled for the diluted product. A column will be required for eachdrug/concentration combination.

In another aspect of the present invention, a pharmacy-managed methodfor labeling sterile empty vials for use in preparation of dilutedproduct as described above is preferable provided. The pharmacy requiresa separate process for printing labels with appropriate bar codes andhuman-readable text on the labels, applying those labels to vials usedfor dilution of the correct size, and verifying that the correct labelswere correctly applied.

In one embodiment of the present invention, the serial dilutionfunctionality of the present system 100 permits definition of a productthat can be prepared by diluting another product and includes thefollowing functionality: (a) only commercially available injections canbe used to prepare a dilution (that is, one cannot prepare one dilutionfrom another dilution); (b) the software of system 100 permits dilutionsup to 100-fold (e.g., a dilution containing 1 ml of commerciallyavailable drug and 99 ml diluent); (c) the system software providestraceability of both the diluted product and the parent product in apreparation history log and optionally, a verification tab of thesoftware allows the user to view the parent vial images and child vialimages; (d) the system 100 scan inventoried products and selects theproduct that provides the ordered drug in the smallest volume greaterthan or equal to 0.5 ml and less than or equal to 10 ml; (e) the system100 determines if the total amount of the drug and diluent is less thana maximum final volume (e.g., a maximum of 11.5 ml)—and if it is, thesyringe can be used to prepare the dose (this can result in mixtureratios of up to 23 to 1); (f) the system 100 shall maintain at least onecolumn of empty vials for each dilution product and dilution ratio thatcan be prepared; (g) the system 100 detects the condition in which theselected product is a diluted product and shall cause the dilution to beprepared from a parent product; (h) if available, the system 100 uses apartial vial from a hold location (hold station) or from the grippers ofthe mixer if the vial is contained therein to prepare a diluted product;(i) if needed, the system 100 reconstitutes the parent product accordingto the instructions in its formulary record; (j) if needed, the system100 clears two hold locations (at station 700) for dilution activitiesby removing their current occupants and placing them in the restockingbin; (k) the software of the system 100 aspirates the parent productvolume from the parent vial; (l) the system 100 injects the parentproduct volume into the child vial; (m) the system 100 injects theprescribed diluent volume into the child vial; (n) the system 100 isconfigured to invert the vial three times to ensure mixing (this can bedone in the grippers of the robotic device to save time or in a mixer);(o) the system 100 aspirates the required dose from the child vial andinject it into the syringe; and (p) if there is more than the minimumresidual volume of the child product remaining after preparation ofpending doses, the system 100 stores the child product up to itsexpiration time at an available location of the hold station 700.

The system 100 also is configured to reject the drug order and print apass-through label if: (1) there is no source container that can providethe dose in a volume between 0.5 ml and 11.5 ml; (2) there is noinventory of a parent drug for a selected diluted drug; (3) there are nomore vials in which to prepare a diluted drug; (4) the ordered finalvolume is less than the required dose volume for all available productsof the specified drug.

More specifically, FIG. 15 sets forth a flowchart detailing oneexemplary process for performing serial dilution with the system 100 ofthe present invention at the various stations thereof. At step 1000, avial order is received. At step 1002, it is determined whether a dilutedproduct is needed. If the product is not a diluted product, then at step1004, it is determined whether the drug is to be reconstituted. If thedrug is to be reconstituted, then it is done so at step 1006. If thedrug is not to be reconstituted, then at step 1008, a dose volume ofdrug is aspirated. At step 1010, it is determined whether additionaldilution of the aspirated dose volume is to be performed in the syringe.If so, then the dose is diluted in the syringe itself at step 1012 andthen the process ends at step 1014. If additional dilution in thesyringe is not required, then the process ends at step 1014.

If at step 1002, it is determined that a diluted product is needed, thenat step 1016, it is determined whether the diluted product is being heldin the gripper (robotic arm or mixer). If so, then at step 1008, a dosevolume is aspirated therefrom. The process then goes to step 1010, todetermine whether additional dilution of the aspirated dose volume is tobe performed in the syringe. If so, then the dose is diluted in thesyringe itself at step 1012 and then the process ends at step 1014. Ifadditional dilution in the syringe is not required, then the processends at step 1014.

If the diluted product is not present in the gripper (step 1016), thenthe system determines at step 1020 if the diluted product is present onthe hold platform (station 700). If the diluted product is at the holdplatform, then a diluent vial is retrieved at step 1022 and then theprocess continues to steps 1008-1014.

If the diluted product is not present on the hold platform in step 1020,then the system 100 determines at step 1022 whether the parent productis being held in the gripper (robotic arm). If the answer to step 1022is yes, then the system determines at step 1024 whether the product bediluted in the syringe (QSing the syringe) and if so, the processcontinues to steps 1008-1014. If the product cannot be diluted in thesyringe, then at step 1026, an empty vial is dropped; at step 1028, thedose volume is aspirated from the parent product; at step 1030, the dosevolume and diluent are injected into the empty vial and at step 1032,the product is agitated in the grippers before the process continues tosteps 1008-1014.

If the answer to step 1022 is no, then the system determines at step1034 whether the parent product is present on the hold platform (station700) and if so, then at step 1036, the parent vial is retrieved from thehold platform before process continues to step 1024. If the answer tostep 1034 is no, then the parent vial is dropped at step 1038 and atstep 1040, it is determined whether to reconstitute the drug. If thedrug is to be reconstituted, then it is done so at step 1042 before theprocess continues to step 1024. If the drug is not to be reconstituted,the process continues to step 1024.

FIG. 16 shows an exemplary computer screen display 1100 for enteringdiluted product information. In this example, a diluted product is beingadded to the software and in particular, in box 1101, the user enters adrug description, in this case, “Oxacillin 100 mg Dilution” and then theuser in box 1102 selects an appropriate drug container, in this case,“Oxacillin 100 mg”. In box 1104, the user enters a unique drug code, inthis case, “12345678” and in box 1106, a bar code for the dilutedproduct is entered, in this case “12345678”. In box 1107, thereconstituted volume is entered, in this case, 10 ml and in box 1108,the reconstituted concentration is added, in this case, 10 mg/ml. To addthis product to the software, a button 1110, such as an Add button, isselected.

After this information is inputted, a series of formulary tests for thediluted product entry is performed and in particular, the drug name islooked up from the container. The system 100 searches all products whichare not dilutions and are the specified drug. A search is also performedfor a dilution ratio, such as a ratio between 1≦ratio≦100 (the ratio isequal to the concentration of the parent/concentration of child in baseunits). A first match is accepted on the first round if it passes allquality control inquiries. It will also be appreciated that the softwarecan be configured so that a formulary product editor and verify screensshall limit the products that can be used to serve as parent products tothose that do not have the dilution field selected as TRUE (productsthat are commercially available and are not diluted products). Safetyfeature are preferably incorporated into the software to restrict themanner in which a formulary upgrade is performed. For example, anupdated product file shall require verification by a user, who isallowed to verify formulary changes (e.g., a pharmacist), before theupdate can be completed.

After the medication is aspirated into the barrel 20, the dial 130 isadvanced so that the filled syringe 10 is delivered to the sixth station180 (FIG. 2). For example, the dial 130 is preferably advanced so thatthe filled syringe 10 is delivered to a station where the removed tipcap 40 is replaced back onto the barrel tip 28 by a device 900. Thedevice 900 can be similar or identical to the device 300 that removesthe tip cap 40 from the barrel tip 28 at an earlier station or thedevice 900 can be different from the device 300 so long as the device900 is configured to grasp the tip cap 40 from the post 161 and thenplace the tip cap 40 back on the barrel tip 28.

It will be appreciated, and as described above, that the system 100 andin particular, the reservoir mode station 770 thereof, is configured toperform multiple plunger extension operations (sequential plungerextensions) as illustrated in FIG. 7. For example, the syringe 10 isdelivered to the station 770 in an empty form and then the device 400engages the plunger 50 and based on instructions and commands receivedfrom the master controller, the device 400 extends the plunger 50 afirst predetermined distance (distance Y in FIG. 7) to draw in aprescribed amount of a first fluid from a first fluid dispensingmechanism, such as device 400, and then once the prescribed amount offirst fluid is delivered into the syringe 10, the device 400 operates toextend the plunger 50 a second predetermined distance (distance X inFIG. 7) that corresponds to a load volume or space that is intended toreceive a second fluid from a second fluid dispensing mechanism which isdifferent from the first fluid dispensing mechanism. Typically, thesecond fluid dispensing mechanism is located downstream of the firstfluid dispensing mechanism and is configured to be able to reconstitutethe medication. The first fluid dispensing mechanism is preferably adevice that is not of the type that reconstitutes medication butinstead, is of a type that can deliver the first fluid (e.g., diluentfor diluting a drug) in a pumpless manner and the second fluiddispensing mechanism delivers the second fluid without means ofextending the plunger of the syringe.

While, in one embodiment, the extension of the plunger 50 is controlledto a high degree of precision by using a servo motor (e.g., steppermotor) that is operated to cause movement of the plunger the precisedistance which results in the proper amount of fluid being drawn intothe syringe, other mechanisms are available to perform the samefunction. In particular, a laser unit can be provided and positioned sothat a laser beam generated thereby is positioned and set to the fluidlevel desired and then the fluid is added to the syringe until the laserbeam is broken at which time, the delivery of the fluid is stopped. Bothmethods provide precise manners for delivering a prescribed, precisevolume of fluid to the syringe.

The first fluid is preferably a diluent that dilutes the drugconcentration in the second fluid to produce a final drug product thathas the precise concentration of medication. However, it will also beunderstood that the first and second fluids contain two different drugsand therefore, the final drug product is a combination of two drugs thatare drawn from two separate sources by means of extension of theplunger.

The capped syringe 10 can then be transferred to other stations, such asa station where the syringe in bandolier form is cut into individualsyringes 10 that are labeled for particular patients. The syringes 10can then be unloaded from the dial 130 and then further processed, asfor example, by being delivered to a storage receptacle where it isstored or by being delivered to a transporting device for delivery tothe patient or the filled syringes 10 can be cataloged and packaged indifferent boxes or the like for delivery to one more locations. Forexample, in a batch type process, which is typically more common withthe reservoir mode type of operation, a number of syringes 10 can beprepared and delivered into a single box or receptacle.

In yet another aspect of the present invention illustrated in FIGS.10-12, the system 100 includes software that permits the user to enter(input) drug vial information which is then used to calculate andcontrol the movement and position of the vented cannula 610 with respectto a septum 61 of the drug vial 60. As previously mentioned, the ventedcannula 610 includes the drug delivery cannula portion and a separateair vent channel that terminates in a vent port proximate the opencannula portion. In order for the vent portion to be in an active, openposition, the vent port must be positioned within the interior chamberof the drug vial 60 below the septum 61 so as to permit atmospheric airto travel into the interior chamber (i.e., the interior is vented),thereby allowing fluid (e.g., diluent) to be injected into the interiorchamber or reconstituted medication to be aspirated therefrom. It willbe appreciated that if the vent port is not positioned within theinterior chamber, then the vent feature is not active and diluent cannotbe easily added to the drug vial 60 to reconstitute the medication andreconstituted cannot be easily aspirated from the interior chamber.

Thus, in order for the vent feature to be active, the cannula 610 mustbe positioned so that the vent port clears the septum and is positionedbelow the septum 61 inside the interior chamber.

There are a number of different vial types 60 that are commerciallymarketed by a number of different manufacturers. Not only do drug vials60 come in different sizes (e.g., different volume sizes) and shapes,but also, the drug vials 60 have different septum types 61. For exampleand importantly, the thickness of the septum 61 can vary from oneapplication to another (e.g., from one vial 60 to another vial 60).Thus, if the thickness of septum A is 5 units and the thickness of theseptum B is 10 units, the computer control system and positioning systemof the drug delivery device and in particular, the cannula control unit,must take this difference into account into to properly position thevent in the correct location where it is active. For example, if thecontrol system simply moved and positioned the cannula in the sameposition for the septums A and B, the vent port may clear the septum Abut in the case of septum B, the vent port may not clear the lowersurface of the septum 61 but instead is located within the septum 61itself and thus, be in an inactive or closed position. Thus, it isclearly desirable for the control and positioning system to be able torecognize the type of septum 61 that is being used with the particulardrug vial 60 that is being operated on by the system 100.

In accordance with one embodiment of the present invention, the softwareof the control and positioning system includes a database that storespertinent information about the drug vial and in particular, pertinentinformation about the septum 61. As shown in FIG. 16, the computerscreen 1100 can include a number of input boxes in which the operatorcan enter certain vial characteristics, such as the vial width, height,and septum distance (thickness). The database can store the dimensionsof the septum 61, especially, the thickness of the septum 61. Thisstored information is used to control the positioning of the cannula 610and in particular, to control the precise location of the open tip andvent port of the cannula 610 with respect to the septum contained in thedrug vial 60.

More specifically and during the initial input of information (e.g.,using a keyboard, etc.), the user can enter not only information aboutthe drug product order but also information about the drug vial 60. Forexample, the user can enter that the drug vial 60 is a 50 ml vial type Xfrom company Y. Alternatively, the type of drug vial 60 can be inputtedby means of scanning the barcode or the like that is contained on thedrug vial 60. In the embodiment, the initial scan of the barcodetransfers to the master controller not only information about thecontents of the drug vial 60 but also transfers to the master controllerinformation about the drug vial type.

Once the master controller receives the inputted or read informationabout the vial type, the master controller searches the database forthis particular vial type and once it is found in the database, therelated stored information in the database is retrieved and is used tocontrol the positioning of the cannula unit. In particular, thedimensions, and particularly, the thickness and diameter of the septum61, are used in the calculation of how far the cannula is lowered withrespect to the drug vial 60 so as to ensure that not only the open drugdelivery portion of the cannula 610 but also the vent port of thecannula 610 completely clear the septum so that both of these featuresare positioned within the interior chamber of the drug vial 60 (FIG.12). This results in the vent port being in an active position to ensureproper venting of the interior chamber of the drug vial 60 toatmospheric air to permit either diluent to be added to the drug vial 60to reconstitute the medication or the aspiration of the fluid (e.g.,reconstituted medication) from the drug vial 60.

Accordingly, by accessing the vial characteristics stored in memorybased on the inputted or read vial identifying information, the computersystem determines a precise load location where the vent port is open(active venting) by being located completely within the interior chamberbelow the septum 61 as in FIG. 12 and a second position where the ventport is closed as in the case where venting of the interior chamber isnot desired as in FIG. 11. The computer software can use a coordinatemapping system or other drive technology to position the cannula withpreciseness at one of these positions. This permits the position of notonly the open end tip of the cannula, but also the vent port, to betracked at all times relative to the septum 61 since the thickness ofthe septum 61 is stored in the database and thus, it can easily becalculated the precise location where the cannula tip needs to be drivenin order to clear the septum 61 and similarly, the location that thevent port needs to be driven to in order to clear the septum 61 and beengaged (open or active).

It will be appreciated that the above process is not limited to the useof the vented cannula 610 but applies instead to the use of any ventedinstrument, such as a vented syringe tip, etc.

In another aspect, the stored vial characteristic information cancontain information about the angle draw of the fluid (reconstitutedmedication) contained in the vial 60. For example, different septumdesigns have different preferred positions of an angle of drawing thereconstituted medication from the drug vial interior. For example, onedraw angle is 90 degrees in which the cannula 610 is inserted throughthe septum 61 at a 90 degree angle and then the medication is drawnthrough the cannula 610 from the interior chamber. If the draw angle is45 degrees for a particular vial and septum 61, then the cannula 610 isinserted through the septum 61 and the vial 60 (with cannula) is rotatedto a 45 degree angle relative to a ground surface, etc. Thereconstituted medication is then drawn from the vial 60 at this angle.

Once again, it will be appreciated that in a typical drug drawingoperation, the vented needle 610 (cannula) is placed in a multitude ofpositions in order to optimize the amount of drug that is being drawnfrom the vial 60. For example, in the initial drug drawing operation,the vent is engaged by clearing the septum 61 to permit the medication(e.g., reconstituted medication) to be drawn from the drug vial 60. Thecomputer system can be programmed so that once a substantial amount ofthe drug has been drawn and only a small amount remains in the vial 60,the vent is not engaged to permit the last small amount of drug to bedrawn from the vial 60. In other words, the automated positioning system(e.g., coordinate tracking system) can be used to position the tip ofthe cannula just through the septum 61 in order to get every last dropof medication from the vial 60.

In addition, the repeated piercing of the septum 61 in the same locationby the cannula 610 can cause coring to occur due to the exposed septumbeing repeatedly penetrated at the same location which causes smallpieces of the rubber septum 61 to dislodge. This is especially the casefor multi-dose vials 60 that are used multiple times. To prevent coringof the septum 60, the system 100 can include a multi-position septumpenetration feature in which software records, stores and controls thelocation where the piercing object (such as cannula 610 or a needle ofthe syringe 10) pierces the septum 61. As previously described and inthe case of the cannula unit 590, for example, a master controllercontrols the movements of the cannula unit 590 and in particular,controls the vertical motion of the cannula unit 590 so that the cannula610 is delivered to the correct location inside the vial 60 and relativeto the septum 61. However, in order to eliminate the coring problem, themaster controller is configured to control the entry point or locationof the entry of the piercing object into the septum 61. In other words,the same location of the septum 61 is not repeatedly pierced by theinserted object but instead, the cannula unit 590 is controlled so thatthe unit 590 moves laterally relative to the septum 61 to cause thecannula 610 to enter a different location of the septum 61.

For example, the software associated with the master controller cancontain a program and a database that keeps track of the prior locationswhere a particular vial that is uniquely identified has been pierced andit also contains a stored piercing pattern that includes multiplepiercing points that have different mapped coordinates so that they donot overlie one another and therefore, successive piercings of the sameseptum 61 result in the piercing object contacting and enteringdifferent locations (coordinates) of the septum 61 as illustrated inFIG. 10. Thus, as soon as the multi-use drug vial 60 is identified byits unique identifier (e.g., a barcode, RFID, etc.), the controlleraccesses the database and retrieves the stored past history of theseptum piercing locations for this particular septum 61 and then, itdetermines the next piercing location and instructs the fluid deliveryunit to move the piercing object to that location. As viewed from thetop, the septum can be pierced in a number of randomly scatteredlocations. In another example, the master controller uses theinformation about the material characteristics of the septum of a givenvial in the database, and adjusts the speed of insertion of cannulathrough the septum. In other words, the master controller can controlthe cannula so that it has a relatively faster speed to penetrate a hardseptum to minimize coring.

In yet another feature of one embodiment of the present invention, thesystem 100 can include software that includes a computer display thatpermits the operator to easily determine at any given time the locationand status of each syringe 10 as it advances through the automatedsystem as illustrated in FIG. 13. In particular, the system 100 has avideo display 1001 that displays the movements of the components of thesystem 100 in real time so that the user can monitor and track the drugdelivery devices (e.g., syringes or bags) as they are advanced from onestation to a next station. For example, the system 100 typicallyincludes a keyboard or pad or the like that permits the operator toinput certain data, such as, the drug order contents, the drug vialinformation, etc., and it includes a display or monitor that permits theoperator to graphically view all this information in real time.

FIG. 13 is a screen shot or image of an exemplary video display in whichthe various stations of the system 100 are identified, as well as theconveyor or transporter (in this case, the dial 13), that moves the drugdelivery devices. In particular, the precise locations of the syringesaround the dial 130 are indicated by a closed circle outline 13 in FIG.13, however, it will be appreciated that other shapes can equally beused to illustrate the location of the syringes 10. As will beappreciated, these circle outlines 13 represent pockets or nests aroundthe dial 130 where the syringes 10 are inserted and held in place as thedial 130 is advanced to move the syringes from one location to anotherlocation.

If a particular pocket or nest is empty and does not include a syringe10, then the circle outline 13 at this location remains empty and is not“filled” with color so as to indicate the presence of a syringe 10. Whena syringe 10 is fed into and held within a particular pocket or nest,the circle is shown as a filled circle 15 of any given first color. Inthis manner, the empty circle identifiers 13 around the dial 130represent areas where no syringe is present and the filled circle 15identifiers represent locations where syringes 10 are present.

In another aspect, the color of the filled circles 13 can change basedon whether the syringe that is located at this particular location isundergoing some type of operation and is thus, at an active station orwhether, the syringe 10 at this location is inactive and is waiting tobe advanced to a next station where an operation is to be performed. Forexample, a loaded inactive syringe 10 can be identified on the screen bya blue colored circle 15 and when this loaded syringe 10 is advanced toan active station where some type of operation is performed on thesyringe (e.g., decapping of the syringe, filling or aspiration ofmedication, etc.), the color of the circle 13 changes from blue to greento indicate that this particular syringe is at an active station and isbeing subjected to some type of operation. This is represented as agreen colored circle 17. As soon as the operation has stopped, the colorof the circle 13 returns back to blue to indicate an inactive site.

It will also be appreciated that each syringe 10 can be identified by atag 19 on the display screen that contains a unique identifying code topermit the operator to easily and quickly determine which syringe 10 islocated at each station. For example, the tag 19 can be visual tag thatis displayed on the screen next to the circle 13 that identifies aloaded syringe and as the transporter (dial) is advanced, the tag 19moves along with the depiction of the syringe (e.g., the filled-incircle identifier). The unique identifying code can be chosen by thecomputer software and linked to the syringe barcode, etc., or theidentifying code can be the barcode itself.

In contrast to conventional automated syringe handling systems, thesystem 100 is not restricted to being operated in a sequential mannerwhere one syringe is fed from one station to the next but instead, thesystem 100 is configured so that there can be a number of active workstations performing some type of automated operation at the same time.Thus, at any given time, the video display can show two or more greencolored syringe identifiers to indicate that two or more syringes are atactive stations where work is occurring. For example, in the serialdilution mode of operation, both the reservoir mode station 770 and thefluid transfer station 170 can be and preferably are active at any onepoint in time and therefore, the visual syringe identifiers at these twostations will be colored green on the visual display to show that workis being performed on these syringes at the given stations. In addition,one syringe may be undergoing a decapping operation at station 150,while at the same time, another syringe is receiving a dosage ofmedication at the fluid transfer station 170 and therefore, the visualsyringe identifiers for these two syringes will be green colored. Itwill be appreciated that there is no limit as to the number of stationsthat can be active at the same point in time and therefore, in contrast,to conventional design, the present invention is a multi-stationoperation that is not limited to being a sequential operation where agripper or robotic device delivers one syringe from one station toanother station until all operations have been performed on the syringeand then at that point in time, the robotic device will get anotherempty syringe and start the sequential process over. However, this typeof process is a sequential process where only after work is completed onone syringe does work start on the next syringe.

In yet another safety feature of the present invention illustrated inFIGS. 2 and 9, syringes that are present at a set interval are removedfrom the dial 130 just prior to the unloading station 200 and aredelivered via a robotic device 531 to a weigh station 201 where thefilled syringe is weighed. For example, every 10^(th) syringe or someother syringe interval can be removed from the dial 130 and delivered tothe weigh station 201. The filled syringe 10 is then checked with astored value (target value) and if it is within a range of acceptedvalues, the syringe is then delivered back to the unloading stationwhere it is then removed from the dial 130 and placed on a conveyor orthe like. This safety feature is particularly useful and is intended foruse more when a batch of syringes having the same specifications isprepared since checking syringes at predetermined intervals is a qualitycontrol measurement for checking the integrity and precision of thebatch filling devices.

The software can be configured so that if one of the selected syringeshas a weight that is outside of the acceptable range, then not only isthis particular syringe discarded but the operator can be given severalsafety feature options, including, modifying the interval at which thesyringes are checked so that the interval is decreased (e.g., instead ofchecking every 10^(th) syringe, the system can be modified to checkevery 3^(rd) syringe, etc.); the operator can undertake a check of thefilled syringes that exited the system 100 for a given preceding timeperiod; etc.

As shown in FIG. 1, the system 100 is typically incorporated into thehousing 1300, such as a cabinet, that has different compartments forstoring the components of the system 100. For example and as shown inFIG. 1, the housing can include a first space 1310 in the form of thedrug cabinet 110 that stores the drug vials 60 (FIG. 6), as by storingthem vertically in a number of different rows. The drug cabinet 110preferably includes sensors and the like for indicating when a row ofdrug vials 60 is low or has run out. The mechanism 510 (FIG. 2) thattransports an individual drug vial 60 from the drug cabinet 110 to theother working components that are located in a second space 1320 of thehousing 1300 is located along one side of the housing 1300.

The other working components of the system 100 that are disposed in thesecond space 1320 are accessible through one or more side windows 1322and preferably, each side of the housing 1300 includes slideable doorsor windows 1322. When the doors 1322 are shut, the interior of thehousing 1300 is sealed. Since a number, if not all, applications,especially, the preparation of chemotherapy drugs, require a sterileenvironment, the housing 1300 includes one or more filters 1332 and inparticular, one or more HEPA filters 1332 (high efficiency particulateabsorbing filters) that are typically designed to remove at least 99.97%of dust, pollen, mold, bacteria and any airborne particles with a sizeof 0.3 micrometers at 85 liters per minute.

In one embodiment, the housing 1300 has the HEPA filtration system 1332incorporated into a ceiling or roof 1340 of the housing 1300 andincludes one or more HEPA filters 1332. The HEPA filter 1332 functionsto filter air that enters the cabinet by any number of different means,including the opening of one glass door 1322. The HEPA filtration system1332 also includes at least one and preferably a plurality ofsensors/sensing devices, such as particulate sensors, 1350 thatcontinuously monitor the conditions inside the housing 1300 and morespecifically, measure the level of particulates within the housing 1300.The sensors 1350 can be placed in a number of different target locationswithin the housing 1300. For example, one sensor 1350 can be located onthe ceiling/roof, one can be located on a side wall of the housing, onecan be located on a floor of the second space, etc.

The sensors 1350 communicate with the master controller which isconfigured to continuously monitor the readings from the sensors and ifone reading, such as particulate count, is outside an acceptable range,then the master controller takes appropriate action which can be toalert the operator and/or take remedial action in an attempt to correctthe matter. For example, the alert can be in the form of an alarm(audible and/or visual) that alerts the operator that an error orundesired condition exists in the housing or with the system 100. Thealert can also be in the form of a text message, such as an email, thatis sent to one or more recipients to alert them of the currentunacceptable condition. Conventional wireless or wired communicationsequipment can be provided to perform this function.

The alert functionality and error display functionality is not limitedto instances where a high particulate count is observed but it can be aresult of any other type of error situation, including a jam at theloading station 120 or that the machine has run out of a feed ofsyringes 10 or a jam has occurred at another station or a measuredparameter is outside an acceptable range.

In one embodiment, the housing 1300 includes a visual alert device 1352,such as a flashing light or solid color light, that is positioned nearthe top of the housing so that anyone in the area of the housing 1300can see when it is activated and is flashing to alert the operator tocheck the visual display (computer monitor) for an error message thatdetails what problem or error has been detected. For example, duringnormal operation, the light 1352 is a green color; however, when thereis a problem or error, the light 1352 has a red color and can alsoblink, etc., or remain a solid color.

Once the light 1352 flashes, the operator can ascertain the reason forthe activation of the light by looking at the computer screen sincepreferably, there is a section (e.g., a lower portion of the screen)that lists any current error message. For example, the display couldindicate “Error Message 002—Jam at Syringe Feed Station” or “ErrorMessage 005—High Particulate Reading at Sensor 001” or “Error Message006—Syringe Cap not detected at Station 0033,” etc. Proper remedialaction can then be taken.

In yet another safety feature, the drug cabinet 110 can be constructedso that is can receive a cleaning solution that is intended todecontaminate the drug cabinet 110. For example, any wiring that isexposed in the drug cabinet 110 can be routed through protective sleevesor is otherwise protected and the drug cabinet 110 can include one ormore devices that are intended to dispense fluid in a controlled mannerthrough the drug cabinet, including the drug vials 60, containedtherein. For example, the devices can be in the form of misting devicesor sprayers that are fluidly connected to both a source ofdecontaminating fluid and a controller that controls the dispensing ofthe fluid. The controller is operatively connected to the mastercontroller (computer) and therefore is a programmable device that can beprogrammed to dispense fluid at regular intervals. For example anddepending upon applicable regulatory requirements, the controller can beset up to cause a spraying of decontaminating fluid within the drugcabinet 110, including over the stored drug vials 60, at a precise timeinterval, such as daily, weekly, monthly, etc. and for a programmableamount of time.

Any number of different decontaminating fluids can be used with oneexemplary embodiment being alcohol.

The drug cabinet 110 can thus contain a drain or the like to collect anydecontaminating fluid that may have run off the equipment in the drugcabinet, including the vials. The drain can then lead to a wastereceptacle.

It will be appreciated by persons skilled in the art that the presentinvention is not limited to the embodiments described thus far withreference to the accompanying drawings; rather the present invention islimited only by the following claims.

1. A method of preparing a diluted dosage of medication with anautomated drug preparation system including the steps of: reconstitutingmedication in a first vial, in an automated manner, to producereconstituted medication have a first concentration which is greaterthan an inputted target concentration of the dosage of medication;loading a syringe onto a device that controllably delivers the loadedsyringe from one station to another station; fluidly connecting thesyringe to a source of diluent; extending a plunger of the syringe apredetermined distance to draw a first volume of the diluent into thesyringe; advancing the partially filled syringe to another station wherea predetermined amount of the reconstituted medication is delivered tothe partially filled syringe to produce the dosage of medication thathas a concentration at least about equal to the inputted targetconcentration, wherein the reconstituted medication is delivered to thepartially filled syringe in a manner different than drawing fluid byextension of the syringe plunger.
 2. An automated medication preparationsystem for preparing a prescribed dosage of medication in a drugdelivery device comprising: a plurality of stations for receiving,handling and processing the drug delivery device so that the prescribeddosage of medication is delivered to the drug delivery device; and atransporting device that receives and holds more than one drug deliverydevice and moves the drug delivery devices in a controlled manner fromone station to another station; wherein the system is configured so thattwo or more separate drug delivery devices can be acted upon at the sametime.
 3. The system of claim 2, wherein the plurality of stationsincludes a first medication preparation station where a first fluid isdelivered to one drug delivery device and a second medicationpreparation station where a second fluid is delivered to another drugdelivery device at the same time the first fluid is delivered.
 4. Thesystem of claim 3, wherein the first fluid is a diluent that isinitially added for diluting the second fluid which contains a drug. 5.The system of claim 3, wherein the drug delivery device comprises asyringe and a first device acts of the one drug delivery device in amanner other than delivering fluid to the one drug delivery device,while a second device simultaneously acts on another drug deliverydevice by delivering a fluid thereto.
 6. The system of claim 2, whereinone of the plurality of stations comprises a weigh station that includesa load cell for measuring a weight of a container that holds the drugfrom which the dosage of medication is prepared.
 7. The system of claim6, wherein the container comprises a drug vial that includes an amountof solid medication that is later reconstituted and a robotic devicegrasps the drug vial with grippers and places it on the load cell toobtain a first weight measurement that represents a weight of the vialand the solid medication and after reconstitution of the solidmedication, the vial with reconstituted medication is placed on the loadcell to obtain a second weight measurement that is compared with thefirst weight measurement to obtain a weight of the reconstituted drugitself which is then compared with an inputted weight for thereconstituted drug and if the measured weight of the reconstituted drugis not within an acceptable range relative to the inputted weight, thenthe vial is not advanced to a next station.
 8. The system of claim 6,wherein the master controller calculates the amount of diluent added toan empty drug vial by means of the load cell and then calculates theamount of the drug added to the drug vial using a device other than theload cell.
 9. The system of claim 7, wherein the robotic device has afirst mode of operation in which the vial is shuttled down at a firstspeed to within a first prescribed distance from a platform of the loadcell on which the vial is placed and a second mode of operation in whichthe vial is moved at a second speed that is significantly less than thefirst speed until impact between the vial and the platform is registeredby a sudden increase in the measured weight at the platform.
 10. Thesystem of claim 9, wherein the robotic device is programmed to open thegrippers of the robotic device once impact between the vial and theplatform is registered and after a predetermined time has lapsed fromopening the grippers, software associated with the load cell collects apredetermined number of second weight measurements from the load cellwhich are used to generate the second weight measurement that iscompared to the first weight measurement.
 11. The system of claim 2,wherein the plurality of stations are arranged in a housing that can besealed to the environment and includes a HEPA filtration system that isin communication with a master controller of the system and that has oneor more sensors for real-time monitoring of air quality in the housingsuch that if one detected parameter is outside an acceptable range, thesensor sends an alert signal to the master controller which thennotifies the operator of the event.
 12. The system of claim 11, whereinthe one detected parameter is that the particle count in the housingexceeds a threshold and the master controller is programmed to takeremedial action to reduce the particle count in the housing.
 13. Thesystem of claim 12, wherein the remedial action is to increase air flowinto the housing.
 14. The system of claim 11, wherein the mastercontroller is programmed to notify the operator by means at least one ofan audio alert, a visual alert, a combination thereof, a wireless textmessage, and a telephone call.
 15. The system of claim 2, wherein one ofthe stations is a reconstitution station where medication isreconstituted with an automated device by adding a predetermined amountof diluent to a drug vial holding a quantity of solid medication andmanipulating the vial to cause the solid medication to go into solution,the mixing being performed by a device that is configured to operate atmultiple different speeds and one which possesses different mixingmodes.
 16. The system of claim 15, wherein the device for mixingincludes grippers that are part of a robotic device that is configuredto move the drug vial from one location to another location.
 17. Thesystem of claim 15, wherein the device for mixing includes a vibratorysystem and the vial is held in grippers that are part of a roboticdevice that is configured to move the drug vial from one location toanother location.
 18. The system of claim 15, wherein the device formixing comprises a shaker device and the medication is reconstituted bysecurely retaining the vial in the shaker device without the aid ofgrippers associated with a robotic device that moves the drug vial fromone location to another location.
 19. The system of claim 15, whereinthe drug delivery device comprises a syringe and the medication isreconstituted by adding the diluent to the drug vial and with a seriesof pull and push motions of fluid and air caused by movement of aplunger relative to the syringe, reconstitution is achieved.
 20. Thesystem of claim 15, wherein the vial is vented as the diluent is addedand pressure within the vial is substantially equalized relative tooutside by adding the diluent and with a series of pull and push motionsof the plunger relative to the syringe, air is either injected orremoved from the vial to permit equalization.
 21. The system of claim14, wherein the mixing modes comprises a first mixing mode in which thedrug vial is gently inverted to cause a wetting of the solid medicationwith the diluent and a second mixing mode which is an agitation modewhich causes the solid medication to go into solution.
 22. The system ofclaim 21, wherein the automated device has an associated reconstitutiondatabase that contains a listing of drug types, with each drug typehaving associated reconstitution instructions including instructionsrelating to the first and second mixing modes and time periods for eachmode.
 23. The system of claim 22, wherein the automated device includesa QA function that enables the reconstituted drug to be tested underprescribed conditions to assure that the instructions stored in thereconstitution database results in the solid medication being placedinto solution, the QA function having a reconstitution QA database thatpermits the operator to enter visual observations of the testedreconstituted drug and if the operator indicates, by enteringinformation that causes an alert signal to be generated, that the solidmedication is not fully in solution, then the instructions in thereconstitution database are automatically altered by taking into accountthe visual observations when the automated device is operating inautomatic update mode.
 24. The system of claim 2, wherein one of thestations is an automated vial load station where based upon a drug orderentered by an operator, one drug vial is selected and delivered to adrug reconstitution station where a predetermined amount of medicationis delivered by an automated device to permit solid medication in thevial to go into solution, wherein the vial includes an identificationmember that uniquely identifies the vial and its contents and another ofthe stations includes a reader that reads the identification member andcompares it with a database and if the read identification member doesnot match stored identification information in the database, then thevial is not delivered to the drug reconstitution station.
 25. The systemof claim 24, wherein the identification member comprises a barcode thatuniquely identifies the vial and its contents and the reader is one of abarcode scanner, imager and a camera.
 26. An automated drug deliverysystem configured to perform reconstitution of a drug and preparation ofa prescribed dosage of medication and delivery to a drug delivery devicecomprising: an input for entering a drug order; a first station thatholds a plurality of drug vials, each drug vial containing a solidmedication and having an identifier that uniquely identifies the drugvial; a reader that reads the drug vial identifier and transmits readinformation to a controller that compares the read identifier with theinputted drug order to confirm whether at least drug identifyinginformation of the inputted drug order matches the read identifier andif so, the drug vial is approved for advancement to a second station;and an automated drug reconstitution device that is located at thesecond station and includes a source of diluent and a controllablecannula that is selectively in communication with the source of diluent,the drug reconstitution device operating in first, second and thirdmodes, the first mode being an injection mode where a predeterminedamount of diluent is injected through a main conduit into the drug vialfor wetting and causing the solid medication to go into solution to formreconstituted medication by agitating the solution, the second modebeing an aspiration mode for aspirating a predetermined amount of thereconstituted medication into the main conduit where it is held, thethird mode being an injection mode where the predetermined amount ofaspirated reconstituted medication, which represents the prescribeddosage of medication, is injected through the main conduit into the drugdelivery device.
 27. The system of claim 26, wherein the automated drugreconstitution device introduces an air bubble into the main conduitprior to operating in the second mode and aspirating the reconstitutedmedication, wherein the air bubble provides a buffer between the diluentcontained in the main conduit and the reconstituted medication that isaspirated during the second mode so as to prevent mixing between thediluent and the reconstituted medication both of which are contained inthe main conduit.
 28. The system of claim 27, wherein after theautomated drug reconstitution device operates in the third mode, the airbubble is located at a distal tip of the main conduit signifying thatthe prescribed dosage of medication has been delivered into the drugdelivery device.
 29. The system of claim 26, wherein the second mode ofthe automated drug reconstitution device operates at a first aspirationphase where the reconstituted medication is aspirated at a first speedand for a first time period and a second aspiration phase in which thereconstituted medication is aspirated at a second speed for a secondtime period.
 30. The system of claim 29, wherein the first speed isgreater than the second speed and operation in the first aspirationphase results in a first volume of medication being aspirated andoperation in the second aspiration phase results in a second volume ofmedication being aspirated, the first volume being substantially greaterthan the second volume.
 31. The system of claim 26, further including amaster controller that has a database that stores information about eachdrug vial including material characteristics of a septum of the drugvial, the master controller adjusting a speed of insertion of thecannula through the septum.
 32. The system of claim 30, wherein the vialis tilted a prescribed number of degrees during the second aspirationphase.
 33. An automated drug delivery system configured to performreconstitution of a drug and preparation of a prescribed dosage ofmedication and delivery to a drug delivery device comprising: an inputfor entering a drug order; a reconstitution database that includesdetailed instructions on how to reconstitute the drug that is uniquelyidentified by the drug order; a first station that holds a plurality ofdrug vials, each drug vial containing a solid medication and having anidentifier that uniquely identifies the drug vial; a reader that readsthe drug vial identifier and transmits read information to a controllerthat compares the read identifier with the inputted drug order toconfirm whether at least drug identifying information of the inputteddrug order matches the read identifier and if so, the drug vial isapproved for advancement to a second station; and an automated drugreconstitution device that is located at the second station and includesa controller that is in communication with the reconstitution databaseso that once the drug order is inputted and the reconstitutioninstructions are retrieved, the controller instructs the automated drugreconstitution device so that the prescribed dosage of medication isprepared and delivered to the drug delivery device in an automatedmanner and the drug delivery device itself is identified with a uniqueidentifier which is linked to the drug order for the prescribed dosageof medication contained in the drug delivery device and permits trackingof the drug delivery device from station to station.
 34. The system ofclaim 33, wherein the automated drug delivery device includes a sourceof diluent and a controllable cannula that is selectively incommunication with the source of diluent, the drug reconstitution deviceoperating in first, second and third modes, the first mode being aninjection mode where a predetermined amount of diluent is injectedthrough a main conduit into the drug vial for wetting and causing thesolid medication to go into solution to form reconstituted medication byagitating the solution, the second mode being an aspiration mode foraspirating a predetermined amount of the reconstituted medication intothe main conduit where it is held, the third mode being an injectionmode where the predetermined amount of aspirated reconstitutedmedication, which represents the prescribed dosage of medication, isinjected through the main conduit into the drug delivery device.
 35. Thesystem of claim 34, wherein the reconstitution database includesaspiration instructions including the number, length and characteristicsof agitation phases and motions.
 36. The system of claim 33, wherein thecontroller calculates a number of fluid transfers that are needed todeliver the prescribed dosage to the drug delivery device.
 37. A methodof preparing a diluted dosage of medication with an automated drugpreparation system including the steps of: reconstituting medication ina first vial, in an automated manner, to produce reconstitutedmedication; loading a syringe onto a device that controllably deliversthe loaded syringe from one station to another station; extending aplunger of the syringe a predetermined distance to create a first volumein the syringe; and advancing the partially filled syringe to where apredetermined amount of the reconstituted medication, that is less thanthe first volume, is delivered into the syringe to produce the dosage ofmedication.
 38. The method of claim 37, wherein the reconstitutedmedication is delivered to the syringe in a manner different thandrawing fluid by further extension of the syringe plunger.